Abstract: A modular robotic platform is provided having four legs mounted to a body. Each of the legs is mounted to the body via a steering assembly so as to pivot in a first plane relatively to the body. Each leg includes an endless track assembly having a first wheel, a drive system for driving the first wheel, a second wheel, an endless track for rotatably coupling the second wheel to the first wheel, and a track tensioning assembly for pivoting the leg in a second plane perpendicular to the first plane. Each leg includes a locomotion controller and a local environment recognition module. Synchronisation of the legs is achieved by a central controller, which gathers data information from each leg through a synchronisation bus. A coordination bus allows to exchange data information between different modules of the robotic platform, including the legs, the central control system and other systems or modules such as an energizing system, a pitch gauge system, etc.

Abstract: A recreational vehicle is disclosed comprising front and rear sub-frames. Steerable wheels are mounted on the front sub-frame, and a rear wheel assembly on the rear sub-frame. The front wheels are steered by a mechanism operated by rotation of the rear sub-frame substantially about its longitudinal axis relative to the front sub-frame. The rotational axis of the wheel in the rear wheel assembly is fixed relative to the rear sub-frame such that when the rear sub-frame is rotated relative to the front sub-frame, the rear wheel leans correspondingly.