The problem has always been the height of the stair versus the depth. That and for some darned reason I was fixated on the chin-up analogy. I could just have the get at the end of legs. Have the legs be two offset joints. By the way, gentle reader, I know not the words I abuse. The front legs are easy, as the would start at the front shoulder, extend to, almost, the back shoulder, and back to the front again. The back legs though would drag since they go from back to front to back. Except. This being why I bother writing this, except…
The rear leg’s shoulder would be mounted on a standard DC motor, continuous rotation servo, or stepper. Rather than folding down, which would rack the knee on the stair when ascending, it would spin over the top, gotta remember to take into account the potential change of position on this, thereby giving the rear leg a chicken walk, though that’s a lie. About chickens that is. They just have super long feet against tiny hips.