Abstract: A vehicle has at least three drive axles each with a pair of drive wheels, a steering system that directly controls the steering angle between at least two of the drive axles. The vehicle is arranged so that all drive wheels on its right hand side and left hand side, respectively, essentially follow the same wheel tracks when it is driven. The frequency of rotation is individually controllable for each drive wheel. The vehicle includes differential compensating elements arranged to register the relative steering angle for each consecutive pair of drive axles, respectively, and the mutual frequency of rotation for the drive wheels of each drive axle is controlled by the registered relative steering angle associated with the axle. A drive axle arrangement for such a vehicle is also disclosed.

Abstract: A shovel loader (1) has a vehicle body frame (9), a travel device (5), a loader device (20), and a drive power generation section for generating drive power for making the travel device (5) travel. The vehicle body frame (9) has a pair of side frames (9a, 9a) arranged on both the left and right sides of the shovel loader (1). The loader device (20) is made up of a pair of lift arms (21,21) vertically swingably attached to the pair of side frames (9a, 9a) and of a bucket (29) vertically swingably attached to the forward end of the pair of lift arms (21,21). The drive power generation section has a pair of electric motors (71,71) for individually transmitting drive power to the pair of travel devices (5,5) and capable of being controlled independent of each other so that a vehicle (10) can be made to travel in a mariner the left and right are independent of each other, and also has a battery (50) for supplying electric power to the electric motors (71,71).

Abstract: A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the local distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.

Abstract: An autonomous robot, that is for example, suitable for operations such as vacuuming and surface cleaning includes a payload configured for vacuum cleaning, a drive system including a steering system, a navigation system, and a control system for integrating operations of the aforementioned systems.

Abstract: A wheelchair includes a frame, a chair, a pair of drive wheels, a pair of rear wheels, and a pair of front wheels. Each front wheel is part of a front arm assembly that is rigidly coupled to a drive via a mounting plate. The mounting plate is connected to the wheelchair frame by a pivot. The drives are transversely mounted. The batteries are disposed rearward of the drives. The wheelchair seat can be moved forward to provide access to the batteries without fully removing the wheelchair from the frame.

Abstract: A method and system are described for calibrating speed controls for a vehicle having a pair of drive means on opposite sides of the vehicle driven by independent speed controls and where relative speed of the drive means is used to direct the vehicle. In one aspect, angular motion of the vehicle is detected using at least one of a gyroscopic angular sensor and a pair of accelerometers to determine a rate of yaw; a speed control output for controlling the relative speed is adjusted so that the rate of yaw is lower than a threshold when speed control inputs for controlling the relative speed are equal; and one or more speed control adjustment parameters are determined and stored for use during operation for controlling the relative speed of the drive means. A microcontroller may be used to receive sensor outputs (e.g. from the gyroscope and/or accelerometers) and speed control inputs and to determine the speed control adjustment.

Abstract: A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel.

Abstract: A motorized wheelchair includes left and right drive wheels, left and right motors, rate-of-turn sensor, first and second speed sensors, and controller arranged to combine signals from the sensors in a manner that detects drift. Alternatively, the motorized wheelchair includes left and right drive wheels, left and right motors, first and second rate-of-turn sensors, and controller arranged to combine signals from the sensors in a manner that compensates for voltage offset errors. In another arrangement, the motorized wheelchair includes left and right drive wheels, left and right motors, first and second rate-of-turn sensors, input device, and controller arranged to combine signals from the sensors and input device in a manner that controls the motors using an integrated turn rate error. Several methods for controlling each wheelchair configuration are also provided. These methods process signals associated with desired, expected, or actual turn rate to determine if the wheelchair is off course.

Abstract: A traveling robot includes a main body frame having a front wheel supported in a front portion thereof in a traveling direction, a first traveling part having a first driving wheel to drive in the traveling direction, a first rear wheel disposed in a rear side of the first driving wheel, and a first wheel frame to support the first driving wheel and the first rear wheel, a second traveling part having a second driving wheel to drive in the traveling direction independently from the first driving wheel, a second rear wheel disposed in a rear side of the second driving wheel, and a second wheel frame to support the second driving wheel and the second rear wheel, a first interlocking hinge part to rotatably support the first wheel frame to the main body frame to have a hinge axis of a perpendicular direction with respect to the traveling direction, and a second interlocking hinge part to rotatably support the second wheel frame to the main body frame independently from the first interlocking hinge part to have a

Abstract: A coaxial two-wheel vehicle is provided. The coaxial two-wheel vehicle includes a step plate for a rider to ride on; a vehicle body supporting the step plate to be capable of changing a posture in a roll direction of rotating around a roll axis as the center when a traveling direction is set to the roll axis; and a pair of wheels disposed on the same axis at both sides of the vehicle body in a direction orthogonal to the traveling direction and rotatably supported by the vehicle body. Further, the coaxial two-wheel vehicle includes a pair of wheel drivers driving and rotating the pair of wheels independently and a control lever directly changing a posture of the step plate or indirectly changing the posture through the vehicle body.

Abstract: A method of operating a vehicle at a substantially low speed based on change in the vehicle position. The method comprises the following steps: (A) transforming a steering control algorithm into a substantially low speed (SLS) steering control algorithm, wherein the (SLS) steering control algorithm is configured to operate the vehicle in an asynchronous low speed mode; and (B) implementing the SLS steering control algorithm as a controller configured to operate the vehicle in the asynchronous low speed mode.

Abstract: An omni direction vehicle with a frame having a round surface about its perimeter with no apparatus mounted on the frame extending beyond the perimeter. Two independent drive wheels located on an axis through the center of the frame are mounted at the same distance from a central vertical axis through the frame. Each wheel is powered independently of the other and can rotate at variable speeds in either direction. The vehicle is capable of movement in any direction by rotating the axis of the drive wheels to a position which is perpendicular to the desired direction of travel. The vehicle can spin about its vertical axis such that the axis of the drive wheels can be oriented at any direction without changing the original footprint of the space that the frame occupies over the ground. Thus, the vehicle requires a zero turning radius and requires only the space it occupies to change its forward orientation.

Abstract: The invention is a transporter for moving a rolltainer, a trolley, and various other multi-wheeled containers that roll on a surface. The transporter utilizes lever-assisted rotating forks to lift and position the container to provide maximum traction, stability, and safety. The transporter utilizes hub motors for increased maneuverability and to eliminate drivetrain elements. The transporter is configured to keep transporter structure between the operator and the load during al operative modes to maximize operator safety.

Abstract: In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command ?ref serving as attitude command and current base angle ?0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position ?r of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T1 calculated by using pressure sensors to drive the motor rotor (92R).

Abstract: A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel.

Abstract: A running object includes a body, at least two drive wheels disposed on a first axle, and at least one driven wheel disposed on a second axle. The running object is capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground. The running object includes a storing device that stores a target incline pattern that chronologically describes the target incline angle of the body during a transition from the standing posture to the stable posture; a detecting device that detects the incline angle and/or the incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the detecting device; and an actuator for applying the torque calculated by the calculating device to the drive wheels.

Abstract: The present invention relates to a kind of portable power-saving and foldable electric wheel chair, characterized in that there is a hand control direction device on the left elbow 10 to control the specific running direction of the electric wheel chair; the left and right rear wheels 3 are integrated with the motors 30 respectively, so as the two motors 30 can directly drive the two rear wheels; two disc brakes 20 are installed on the left and right rear wheels 3, the two disc brakes are connected to the brake handle 15 via the main steel string 24, by means of a single hand press brake handle 15, the two rear wheels 3 braked simultaneously; switches 18 for positive or inversion running control the main running direction of electric wheel chair; an intellectual control rod may also be installed on the right elbow 12 to replace the speed-adjusting turning handle 14 and switches 18 for positive or inversion running.

Abstract: A drive system for a tracked vehicle having an internal combustion engine with a crankshaft aligned transversely to a direction of travel includes a steering drive; a differential transmission having traction drive elements, steering drive elements, and a pair of drive outputs for a drive axle aligned parallel to the crankshaft; and a steering drive connection connecting the steering drive to the steering drive elements. A further drive element, which may be a change speed gearbox or an electric traction motor, is arranged in line with the internal combustion engine and transmits power to the traction drive elements.

Abstract: There is provided an electric ground working vehicle including a left wheel and a right wheel, at least one caster, a working apparatus, an acceleration operating element for performing acceleration instructions, a turn operating element for performing turn instructions, and a control unit. The left wheel and the right wheel are independently driven by left and right electric motors respectively. The control unit controls a regenerative brake driving unit so that electric power is regenerated from the left and right electric motors to an electric power source unit when the acceleration operating element is not operated during traveling to regeneratively brake the left and right wheels.

Abstract: An automatic slowing down system for a vehicle taking a bend includes a computer that integrates a series of instructions to process at least one of first, second and third signals according to kinematic control laws of vehicle displacement to deliver signals for a forward motion actuator and a steering actuator, a forward control and a steering control that supply the first signal representative of a forward motion data and a steering data to the computer based on an operator's requirement, a linear speed sensor and a yaw speed sensor that supply the second signal to the computer, and a unit that supplies the third signal relating to road grip to the computer.

Abstract: A power module provides power to move a vehicle, such as a mini-bike, and includes a portable electric drill acting through a gear box and chain drive to rotate a wheel of the vehicle.

Abstract: A motorized wheelchair having transmission rollers to transmit the rotation of rear wheels to front wheels while being disposed at a transmission position between circumferential surfaces of front and rear wheels, a roller supporting arm for rotatably and oscillatingly supporting the transmission rollers in the front-rear direction of the wheelchair, and transmission roller pressure-contact springs for urging the roller supporting arm in a direction of the transmission position. An operation lever constrains the roller supporting arm in an interlocking manner in the direction away from the transmission position when being at the regular position, and releases the constrains when the operation lever being at the working position so as to allow the transmission rollers to be disposed at the transmission position.

Abstract: Stall detection apparatus for an electric motor controller has an input for receiving a drive error flag indicating if the controller is unable to achieve the required motor velocity and an input for receiving a signal in order to measure, directly or indirectly, the actual motor velocity. The actual motor velocity is determined in order to indicate whether the motor is stationary and, only if so, a stall signal is outputted in order to indicate that said motor has stalled.

Abstract: The present invention is an improved personal tracked vehicle consisting of a platform pivotally mounted on top of a housing, the platform having a right and left side and a central axis. The platform is pivotally movable between a first position wherein the right side of the platform is below the left side of the platform and a second position wherein the left side of the platform is below the right side of the platform. The platform has a forward portion, a rearward portion and middle portion between the two, the middle portion being arched upwardly. The vehicle further includes a pair of parallel right and left tracks mounted to the housing below the platform, the right track being coupled to a right track transmission and the left track being coupled to a left track transmission, the right and left track transmissions both being coupled to a motor for driving the transmissions.

Abstract: The present disclosure relates to an arrangement and an electronic navigational control system for a self-propelling device (5), preferably a lawn-mowing robot. The system comprises at lease one navigational control system (3) connected to at least one signal generator (1) and a sensing unit arranged at the self-propelling device (5). The sensing unit senses at least one, in the air medium propagating, time and space varying magnetic field, at least transmitted via the navigational control station (3) and in turn retransmits at least one signal processed by the unit to at least one driving source which contributes to the device's movements across the surface. The system comprises structure by which the signal generator (1) sends a current through the navigational control station (3), the current generating the time and space varying magnetic field, whereby the sensing unit comprises structure by which the device (5) is maneuvered based on the properties of the sensed magnetic field.

Abstract: An electric vehicle includes a vehicle body, a front wheel supported on the vehicle body for steering motion in accordance with motion of the vehicle body, a pair of rear wheels supported on the vehicle body for steering motion, a steering unit configured to regulate a steer angle of each of the rear wheels, a motor unit configured to independently apply a wheel torque to each of the rear wheels, and a control unit. The control unit is configured to control the total of the wheel torques in accordance with an associated setpoint, and to control the steer angles and the difference between the wheel torques so that the attitude and the yaw rate vary in accordance with associated setpoints.

Abstract: A steering apparatus for steering wheels (1) of a vehicle (2) comprises support means (4) arranged for supporting said wheels (1), driving means (27) arranged for rotating said support means (4) around respective longitudinal axis means (Z) and connecting means arranged for connecting said driving means (27) with said support means (4), said connecting means comprising transmission gear means (26); a vehicle comprises steered wheel means (1) and steering means (3) arranged for controlling said steered wheel means (1), said steering means (3) comprising support means (4) arranged for supporting said steered wheel means (1), driving means (27) arranged for rotating said support means (4) around respective longitudinal axis means (Z) and connecting means arranged for connecting said driving means (27) with said support means (4) , said connecting means comprising transmission gear means (26).

Abstract: The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.

Abstract: A device for stabilizing traction in a zero turn mower having a riding frame, a pair of front caster-type wheels, a primary right-side rear wheel and a primary left-side rear wheel, and an asymmetric drive system to said rear wheels for driving and steering, comprising: a) auxiliary right-side and left-side rear wheels rotatably mounted on stub axles positioned rearwardly of said primary rear wheels; b) a first rigid member extending between and pivotally coupled to said auxiliary right-side rear wheel and said primary right-side rear wheel; c) a second rigid member extending between and pivotally coupled to said auxiliary left-side rear wheel and said primary left-side rear wheel; d) a first drive coupling member for driving said auxiliary right-side rear wheel in tandem with said primary right-side rear wheel; and e) a second drive coupling member for driving said auxiliary left-side rear wheel in tandem with said primary left-side rear wheel.

Abstract: A machine is provided. The machine has a frame, an implement attached to a front end, a power source, a first and a second drive motor, a left front and rear axle, and a right front and rear axle. The first and second drive motors are powered by the power source, and each has an inner and an outer sprocket. The left rear axle is coupled to the inner sprocket of the first drive motor and rotatably coupled to the frame. The left front axle is coupled to the outer sprocket of the first drive motor and rotatably coupled to the frame. The right rear axle is coupled to the inner sprocket of the second drive motor and rotatably coupled to the frame. The right front axle is coupled to the outer sprocket of the second drive motor and rotatably coupled to the frame.

Abstract: A robotic cart pulling vehicle includes a positioning error reducing system for reducing accumulated error in the ded-reckoning navigational system. The positioning error reducing system including at least one of a low load transfer point of the cart attaching mechanism, a floor variation compliance structure whereby the drive wheels maintain a substantially even distribution of load over minor surface variations, a minimal wheel contact surface structure, a calibration structure using at least one proximity sensor mounted on the robot body, and a common electrical and mechanical connection between the cart and the robot vehicle formed by a cart attaching post.

Abstract: An electrically operable wheelchair having a seat, a base with a pair of motors respectively coupled with the main support wheels, a position detection assembly, and a controller coupled with the position detection assembly and the motors for controlling wheelchair operation in order to effect desired wheelchair movements. The hands-free input device of the invention, which includes the position detection assembly and a position detection device, provides input signals representative of desired wheelchair movements to the controller. The position detection device detects the position of the seat. Movement of the seat, rather than a joystick, creates the voltage signals which are then transmitted to the wheelchair controller.

Abstract: A prone cart for carrying a patient has a frame, a pair of independently powered and suspended drive wheels located centrally off the frame and an articuable body support having relatively moveable tray, chest support, abdominal support and leg support sections connected end to end for carrying a patient prone between a lowered position where the patient lies in a horizontal orientation to a raised position where the patient's head and chest are elevated with respect to the patient's abdomen and legs. Linkage mechanisms move the sections between the raised and lowered positions. A pair of independently suspended drive wheels mounted centrally of the frame is controllable so that each may each rotate independently in clockwise or counterclockwise sense so that the cart may be maneuvered in confined spaces with a zero turning radius.

Abstract: The invention relates to an electrical steering and drive system for a vehicle with wheel-based steering with at least two electrically driven axles, a mechanical coupling between the drive sides being provided on at least one driven axle in order to transmit power from one drive side to the other, and a purely electrical transmission of drive power being provided on the other driven axles.

Abstract: A robotic cart pulling vehicle includes a positioning error reducing system for reducing accumulated error in the ded-reckoning navigational system. The positioning error reducing system including at least one of a low load transfer point of the cart attaching mechanism, a floor variation compliance structure whereby the drive wheels maintain a substantially even distribution of load over minor surface variations, a minimal wheel contact surface structure, a calibration structure using at least one proximity sensor mounted on the robot body, and a common electrical and mechanical connection between the cart and the robot vehicle formed by a cart attaching post.

Abstract: An inter-convertible single person type transporting aid (10) comprises a multi directionally propellable wheeled carrier frame (12) that is fitted with drive wheels (14) that are independently drivable via motors (16) and situated to enable aid central axis turning. The frame (12) is constituted from an upper frame part (20) displaceably mounted to a wheeled base frame (22) fitted at its outer corners with castors (24). The upper frame part (20) is biased in the direction of arrow (30) relative to the base frame (22). The aid (10) is re-arrangeable into a walk supporter or walker (38), a sitting transporter and a standing transporter by the removable fitting of a seat and a standing platform respectively.

Abstract: A wheel driven utility vehicle includes a frame and two small volume high speed alternating current electric motors arranged side by side for driving the vehicle. Alternatively high speed direct current, hydraulic or pneumatic direct current motors may be used with suitable controls. Each motor has an output shaft which drives an offset planetary gear reducer. Each offset planetary gear reducer is affixed to the electric motor and includes an output carrier interconnected with an output shaft. Each output shaft includes first and second chain drive sprockets which drive chains interconnected with shafts driving the front and rear wheels respectively. Each offset planetary gear reducer enables use of space saving high speed relatively low-torque alternating current electric motors with attendant large speed reductions. Gear reduction enables the production of sufficient torque at the wheels of the vehicle. Applications in addition to utility vehicles are also specifically contemplated.

Abstract: The invention relates to a wheelchair, including an assembly of a chair unit for a user and a support base supporting the chair unit, wherein the support base includes a number of carrying wheels for carrying the assembly, a drive element connected to the assembly for driving at least one carrying wheel and, an operating element connected to the assembly for operating the drive element. The invention also relates to an operating element for use in such a wheelchair.

Abstract: An electric drive system for a vehicle features two similar drive units, an electric energy source, an electronic control unit and a left and a right summation gear, which are configured as planetary gears. A drive unit drives the ring gear of the left summation gear, while the other drive unit drives the ring gear of the right summation gear. The ring gear of the left summation gear has a direct drive connection with the sun gear of the right summation gear, while the ring gear of the right summation gear has a direct drive connection with the sun gear of the left summation gear by way of a second mechanical gearset. A left sun gear shaft is proposed running through a left hollow shaft toward the center of the vehicle and a right sun gear shaft running through a right hollow shaft toward the center of the vehicle.

Abstract: The present invention concerns a drive system for the individual driving of the two driven wheels of a driven wheel pair or suchlike for a vehicle, which comprises two continuously variable drive motors (2, 6) each of which are in driving connection via a transmission arrangement with an associated driven wheel (4, 8) or suchlike. The transmission arrangement comprises in each case two transmission units, one of the two transmission units being a shift transmission (10, 40) while the other transmission unit is a bevel gear transmission (54, 64; 70, 72) with a fixed transmission ratio, the bevel gear transmission (54, 64; 70, 72) comprising a spur gearset and a bevel gearset. By virtue of the shift transmission (10, 40) the drive transmission ratio can be varied, whereas the bevel gear transmission (54, 64; 70, 72) enables the drive shafts (14) of the drive motors (2, 6) to be arranged transversely to the rotation axis of the driven wheels (4, 8).

Abstract: A self-propelled wheelchair with independently driven wheels and dual support frames connected in an articulating relationship. A front frame supports a seat and a rearward extended pivot connector. A pair of front wheels and left and right front drive units are connected to the front frame. A rear frame includes a forwardly extended pivot joint, a rear support platform having a power source thereon, and a pair of rear wheels and left and right rear drive units connected thereto. An articulating junction is formed by the front frame pivot connector attached to the rear frame pivot joint and providing articulation between the front frame and rear frame. A manually operable control unit includes computer circuitry in connection with each wheel drive unit, wherein manipulation of the control unit actuates each drive unit for control of rotational speed and direction of rotation for each wheel.

Abstract: In order to solve a problem that a motor generates a noise so as to deteriorate an environment in a vehicle if a field weakening control is executed to the motor of a electric power steering apparatus, in the case that a vehicle speed is high, the same field weakening control as the conventional one is applied to the motor because a noise generated due to a friction between a tire and a road surface and a wind noise of a vehicle body are large, and in the case that the vehicle speed is low, the field weakening control is weakly applied in comparison with the conventional one because the noise generated by the motor is felt relatively largely. Accordingly, the field weakening control can be executed in response to the vehicle speed in such a manner as to make the motor noise smaller.

Abstract: A method and system providing coordinated torque control and speed control of a vehicle equipped with individual wheel motors, a steering system, and yaw-rate detection to achieve a desired yaw moment for the vehicle, based upon operator input and vehicle operation, is described. This includes determining a commanded steering angle, and a yaw-rate error, based upon the commanded steering angle and detected yaw-rate. A desired wheel motor yaw torque moment is calculated. First and second torque moments are calculated for inner and outer motored wheels, based upon the desired wheel motor yaw torque moment. First and second ideal wheel speeds are calculated for the inner and outer motored wheels, based upon the commanded steering angle. Torque and speed at each inner motored wheel and each outer motored wheel are calculated, based upon the yaw-rate error, the first and second torque moments, and the first and second ideal wheel speeds.

Abstract: In a vehicle, a pair of left and right drive wheels are linked with a steering input device so that the drive wheels are turned in accordance with a driver's steering input force input by a driver to the steering input device. In this course, a steering assistance force is added to the driver's steering input force. Driving forces to be applied to the drive wheels are individually controlled in accordance with a running condition of the vehicle. A steering reaction force is calculated which originates from a difference in the driving forces between the drive wheels and acts on the steering input device. The steering assistance force added to the driver's steering input force is increased or decreased so as to compensate the steering reaction force.

Abstract: An electrically driven wheel for a tracked vehicle which includes a driving track wheel with built in cogs and a brushless DC motor having a mounting shaft to connect the wheels to the tracked vehicle. The brushless DC motor is coupled within the driving track wheel to develop rotational torque for rotating the driving track wheel and includes a drum, a bank of pole assemblies connected between the drum and the stationary mounting shaft, and electrical wiring for energizing the bank of pole assemblies. In an embodiment, the brushless DC motor includes permanent magnet high multiple pole motors. The electrically driven wheels are part of a drive system for the tracked vehicle. The drive system includes a track module frame, at least two flexible tracks coupled with the electrically driven track wheels, and a controller for controlling the electrically driven track wheels in response to a driver command.

Abstract: A self-propelled vehicle particularly for making turns with tight turning radii, comprising a chassis provided with two driving wheels forming at least one driving portion, and which supports a motor kinematically connected to a motion distribution shaft. A functional connection is provided between the motion distribution shaft and each one of the driving wheels and is individually activatable or deactivatable on command for independent actuation of the driving wheels. A steering adapted to act on the functional connection, the latter comprising, between the motion distribution shaft and at least one of the driving wheels, a respective clutch coupling, activatable or deactivatable by the steering device.

Abstract: An electric vehicle has traveling units, first and second electric motors for driving the respective traveling units, a speed adjusting lever for adjusting a speed of the traveling units, a speed adjustment mechanism for generating a speed adjusting signal in response to operation of the speed adjusting lever, and a control unit for controlling rotation of the first and second electric motors in accordance with the speed adjusting signal generated by the speed adjustment mechanism.

Abstract: The object of this invention is to provide a mobile robot base with a decoupled turret mechanism, including a turret (80), a turret motor (1) provided on the turret (80), an actuating motor unit provided on the turret (80) to actuate a plurality of wheels (90), an actuating gear train unit to transmit an actuating force generated from train (10) coupled between the turret (80) and the turret motor (1), and a differential gear train unit coupled to both the turret gear train and the actuating motor unit, so that the differential gear train unit subtracts the rotation of the turret (80) from the rotation of the actuating motor unit, thus transmitting a subtracted rotation to the plurality of wheels (90), and thus, only the rotation of the actuating motor unit is transmitted to the plurality of wheels (90). the actuating motor unit to the wheels (90).

Abstract: A transmission drive system (TDS) has two AC induction traction motors, each operatively coupled to two semi-independent coaxial traction shafts, and two AC induction steer motors coaxially mounted on a common steer axis parallel to the coaxial traction shafts. A steering gear assembly, preferably between the traction and steering motors, has a common steer input shaft operatively connected to the two AC induction steering motors. Two planetary gear sets have the two traction shafts being operatively connected with one of a two planet gear carriers, or two ring gears, respectively. The other of the planet gear carriers or the ring gears are operatively connected with each other. Two offset gears mounted to the steer input shaft and meshing with two sun gears, respectively, including a reversing idler gear interposed between one of the two offset gears and one of the two sun gears.

Abstract: A motorized wheelchair having right and left motorized rear wheels, and fixed front wheels in which a plurality of rollers rotatable in a direction orthogonal to an alignment direction of wheels are disposed therearound, comprises transmission rollers to transmit the rotation of the rear wheels to the front wheels while being disposed at a transmission position between circumferential surfaces of front and rear wheels in order to easily perform the switching to the four-wheel drive as necessary, a roller supporting arm for rotatably and oscillatingly supporting the transmission rollers in the front-rear direction of the wheelchair, and transmission roller pressure-contact springs for urging the roller supporting arm in a direction of the transmission position so as to be pressure-contacted with the circumferential surfaces of the wheels at the transmission position.