How to physically move a rigid body up the stairs?

When an object is controlled by a CharacterController, it is easy to make it climb ramps with a certain slope, or climb steps with a certain height.

When the object is controlled by a RigidBody instead, it can still climb ramps naturally – I just use AddForce and it walks on ramps just like on any other surface. I do not have to add any special logic for a ramp. However, it does not climb stairs. Is there a natural “physical” way to make the RigidBody climb stairs, without explicitly checking that there are stairs ahead?