[wizzwizz4]

A bicycle can do stairs just fine. They're tricky, but not much more than a similarly-steep hill would be. (Of course, that's ignoring wear on the tyres from going over the edges of the steps.)

[necovek]

With wheels, it depends on the size of the wheel what unevenness in the terrain it can cover.

Eg. a monster truck can handle more of it, but it's impractical for a bunch of other reasons.

Similar holds for legs, but legs can usually do jumps too.