Wheels do a great job at rolling over all kinds of terrain, particularly if you pair them with compliant tires. However, they’re not perfect, and can get stumbled by things like large vertical steps. Enter the PaTS-Wheel — a compliant mechanism that can tackle such obstacles with ease.
This is a companion discussion topic for the original entry at https://hackaday.com/2024/05/02/3d-printed-wheels-passively-transform-to-climb-obstacles/