How to do variable height leg/wheel combos that can raise something with a quarter inch of clearance high enough to climb stairs while still being able to sweep the entire middle floor (including under the couch). Cams would be easy if it didn’t need…
Wait. A multiple step cam system. The wheels and motors are mounted on rods with pinion gears. These rods go through a geared motor thing that turns the entire assembly, which gives us the clearance for the motor. Than any normal geared motor just raises the whole leg by spinning the motor which messages with the pinion. I’m fairly sure my English is crap right now. Hopefully this will jog enough memory for me to be able to draw it tomorrow.