Abstract: A moving body includes: a plurality of wheels capable of rotating around a plurality of rotating shafts disposed on a circumference around a common axis; and a supporting unit supporting the plurality of rotating shafts to be capable of revolving around the axis. A first power source is connected to the plurality of wheels to be capable of transmitting power so as to rotate the plurality of wheels. A second power source is connected to the supporting unit to be capable of transmitting power so as to revolve the plurality of wheels.

Abstract: A running system for an elevator comprises a car, running rails, and a driving mechanism, the car is moved on the running rails by means of the driving mechanism, and the running system does not comprise a traction part. In a multi-car elevator running system; the running system is provided with a plurality of cars and at least two set of running rails, and each set of running rails can be used for the movement of the cars; the running system is further provided with at least one switching mechanism and driving mechanism, the car is moved on the running rails by means of the driving mechanism, different running rails are connected by means of the switching mechanism, and the car is switched to the different running rails by means of the switching mechanism.

Abstract: The present invention discloses a driving device capable of walking and stair-climbing by electric power which adopts a combination of a walking mechanism and a climbing carrier to create inventive planetary gear transmission principles. When walking on a flat ground, a driving part drives a sun gear to rotate in a positive direction, two walking wheels are in contact with the ground at the same time, the sun gear drives a planet gear to rotate in a negative direction around a planet shaft, and inner teeth and outer teeth of a gear ring rotate in the negative direction synchronously with the planet gear, thereby a transmission gear drives the walking wheel to rotate in the positive direction to realize rotation of walking.

Abstract: A wheel and a vehicle each having a simple structure and capable of moving over a step while maintaining stability at flat ground traveling are provided. A wheel includes an outer ring that rotates about a wheel rotational axis, an arm drive gear that rotates independently from the outer ring about the wheel rotational axis, and an arm capable of rotating about an arm rotational axis fixed to the outer ring, the arm being configured to partially protrude outside from an outer peripheral surface of the outer ring in a radial direction as the arm drive gear rotates relative to the outer ring in one direction (normal rotational direction) and to be housed inside in the radial direction from the outer peripheral surface of the outer ring as the arm drive gear rotates relative to the outer ring in the other direction (reverse rotational direction) opposite to the one direction.

Abstract: A motorized self-balancing vehicle is provided. The vehicle may include at least two wheels. The vehicle may include a self-balancing mechanism. The vehicle may include a manual-drive mechanism. The self-balancing mechanism may constantly update the self-balancing vehicle in order to maintain the balance of a rider of the vehicle, while the rider is engaged in human motion on the manual-drive mechanism. The human motion may include pedaling and/or stepping. The vehicle may include an electric motor. The vehicle may include only an electric motor. The vehicle may include only a manual-drive mechanism. The vehicle may include both the manual-drive mechanism and the electric motor. In the embodiment including the manual-drive mechanism and the electric motor, the power generated by the electronic motor may be combined with power generated by the manual-drive mechanism in order to move the vehicle.

Abstract: The stair-climbing wheeled carrier has a U-shaped frame defined by a pair of elongated parallel handles and a crossbeam extending between the ends of the handles. Each handle has an axle mount depending therefrom having a star wheel or spider wheel mounted thereon. A dual shaft worm drive motor is mounted on the frame, the shafts driving chain drives connected to the wheels. A throttle extends from one of the handles, and controls leaf springs that operate switches for actuating the reversible motor and returning the throttle to neutral when released. A payload is attached to brackets mounted on the handles. The payload may be a seat for a person needing assistance attending/descending stairs, or a basket for carrying packages or other items upstairs. In use, an assistant uses the handles to support the frame while operating the motor to activate the wheels for climbing stairs.

Abstract: A linkage-based shifting assembly comprises first and second arms, having a first wheel rotatably coupled to a proximal end of the first arm and a second wheel rotatably coupled to a proximal end of the second arm. A shifting assembly is configured to couple to a chassis, wherein the shifting assembly is coupled to distal ends of the first and second arms and configured to cause a relative shifting motion between the chassis and the first and second wheels. The linkage-based shifting assembly can form part of a vehicle. The vehicle can be a two-wheeled vehicle. The vehicle can be a mobile carrier. The mobile carrier can be a two-wheeled vehicle.

Abstract: A wheelchair incorporated with a lift apparatus is disclosed. The wheelchair comprises a pair of seat frame support bars, backrest support bars, and armrest frame support bars for supporting at least one seat cushion, backrest cushion, and armrest cushions. The wheelchair further comprises lower support bars positioned parallel and opposite each other on both sides of the wheelchair. The support assembly includes a plurality of scissor links pivotally connected to each other, and an end of the plurality of scissor links is pivotally affixed with needle bearings to the lower support bars and the seat frame support bars. The lift apparatus includes one or more actuators, positioned between the lower support bars and at least one scissor link on both sides. The actuators are configured to raise and lower the seat cushion by raising at least one scissor link, thereby raising and lowering the seat cushion to a desired adjustable height for the user.

Abstract: A family of vehicles is presented which exploit dynamic controls to stabilize in-line two wheeled vehicles. The stabilization results in improved safety at high speeds and on uncooperative surfaces. Stabilization affords balance at zero speed without auxiliary support means. Transformational wheel base length affords high visibility at low speeds and low drag at high speeds. In wheel chair configurations transforming wheel base length allows navigation up and down stairs.

Abstract: A modular auxiliary power module is described for a modular autonomous bot apparatus that transports an item being shipped. The modular auxiliary power module includes a base adapter platform, a cargo door, an auxiliary power source, and an output power outlet disposed on the base adapter platform as part of a modular component electronics interface. A top side of the base adapter platform has a cargo support area configured to support the item being shipped. Interlocking alignment interfaces (such as channels or latches) are on the top and bottom of the platform. The cargo door is movably attached to and extending from an edge of the base adapter platform, and the output power outlet is coupled to the auxiliary power source and provides access to power for other components of the modular autonomous bot apparatus from the auxiliary power source.

Abstract: A stair traversing device comprising a payload body for transporting a payload, a step frame, and a mechanism between the step frame and the payload body to move the step frame relative to the payload body along a cyclical path. The mechanism drives a movement of one of the payload body and the step frame along a first segment of the cyclical path from a retracted configuration to an extended configuration, and drives a movement of the other one of the payload body and the step frame along a second segment of the cyclical path back into the retracted configuration. The payload body and the step frame are configured to remain fixedly in position on a stair when the other one of the payload body and the step frame is moved. The mechanism is configured to maintain the relative orientation between the payload body and the stair.

Abstract: A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

Abstract: A fall control system is described. The fall control system comprises an elongate guide rail extending along an axis, a trolley for moving along the elongate guide rail, a tether attached to the trolley at a first end, a second end of the tether for attaching to a user, and a speed control system for controlling a speed of the trolley along the elongate guide rail. The speed control system comprises one or more than one speed control track attached to the elongate guide rail and extending along the axis, a background speed controller coupled to the trolley and engaged with the one or more speed control track when the speed control system or the trolley is in a travelling orientation and controlling the speed of the trolley along the elongate guide rail to not exceeded a maximum walking speed.

Abstract: An enhanced mobility wheelchair with semi-autonomous control logic includes criteria for selecting level, stair, and slope modes. Each mode progresses through criteria-invoked phases as the wheelchair travels. Each axis performs an assigned duty for each mode and phase combination to seek a defined target. Control logic invokes stair mode from the level mode when steps are sensed. Criteria restricts negotiating obstacle angles and heights encountered beyond capability and permits reversed travel to exit obstacle. Front and rear support systems include the ability to sense both forward and backward facing steps by adding distance sensors, sensing linkage and rotary sensors. Legrest adjustment raises the feet for forward step climbing and shortens the wheelchair length for tight turns. Steep down slope and steep up slope modes are invoked from a small angle slope mode. Absolute measurement of spider rotation and spider cam engagement does not require adjustment.

Abstract: Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.

Abstract: A user control device for a transporter. The user control device can communicate with the transporter via electrical interface(s) that can facilitate communication and data processing among the user interface device and controllers that can control the movement of the transporter. The user control device can perform automated actions based on the environment in which the transporter operates and the user's desired movement of the transporter. External applications can enable monitoring and control of the transporter.

Abstract: An ergonomically designed seating apparatus having a seat and a backrest. The seat having a seat frame securable to a chassis, a seat support pivotally connected to the seat frame, and at least one first resilient member positioned between the seat frame and the seat support permitting resilient relative pivotal tilting between them. The backrest having a back frame securable to the chassis, a lumbar support connected to the back frame, a back support pivotally connected to the lumbar support, at least one second resilient member positioned along surfaces of the lumbar support and the back support permitting resilient relative pivotal tilting between them, at least one pivot arm connected to the back support configured to limit the pivotal range of motion of the back support, and at least one pivot block connected to the lumbar support configured to interact with the at least one pivot arm.

Abstract: The present disclosure relates to a medical imaging chair.

Abstract: Provided is a traveling apparatus including an adjusting mechanism configured to adjust a wheel base length between a front wheel and a rear wheel by an action of the user being transmitted, a command accept unit configured to accept a command for traveling forward or backward from the user, and a control unit configured to, while the command accept unit accepts the command for traveling forward, control a driving unit to drive the traveling apparatus to travel forward based on a forward target speed associated with the wheel base length in such a way that the greater the wheel base length, the greater the forward target speed becomes, and while the command accept unit accepts the command for traveling backward, control the driving unit to drive the traveling apparatus to travel backward based on a backward target speed associated with the wheel base length.

Abstract: The present disclosure provides a biologically-inspired robotic device comprising: a first member; a second member pivotably connected to the first member; one or more actuators; and a coupler/decoupler mechanism (CDC) selectively coupling or decoupling of the one or more actuators to the second member, such that, when the one or more actuators are coupled to the second member, the one or more actuators act to pivot the second member relative to the first member.

Abstract: A device for transporting a payload (to include a human user) over varied terrain. A platform accommodates the payload. A pair of wheel clusters are mounted to opposite ends of the platform and are powered in rotation relative thereto. Each includes at least two co-planar wheels powered by electric motors. A latch is hand-operable (without tools) to secure the cluster to the platform and, alternatively, allow the cluster to be detached from the platform and rotated 90° to lie parallel thereto. An electrical connector conducts electric power from the platform to the cluster when the latch is operated/actuated to secure the cluster to the platform, and is configured such that it does not impede or obstruct detaching the wheel cluster from the platform, with no requirement that the user take any additional step (other than actuating the latch) to detach the wheel cluster.

Abstract: A stair traversing device comprising a payload body for transporting a payload, a step frame, and a mechanism between the step frame and the payload body to move the step frame relative to the payload body along a cyclical path. The mechanism drives a movement of one of the payload body and the step frame along a first segment of the cyclical path from a retracted configuration to an extended configuration, and drives a movement of the other one of the payload body and the step frame along a second segment of the cyclical path back into the retracted configuration. The payload body and the step frame are configured to remain fixedly in position on a stair when the other one of the payload body and the step frame is moved. The mechanism is configured to maintain the relative orientation between the payload body and the stair.

Abstract: A motorized device for transporting a human or inanimate payload. A platform is configured to accommodate the payload and a pair of wheel clusters are mounted to the platform at opposite ends thereof and are powered in rotation relative to the platform, for example by one or more electric motors housed in or on the platform or wheel clusters. Each of the two wheel clusters comprises three drive wheels arranged in a generally triangular and co-planar configuration, and each is independently powered about its respective axis of rotation by a hub-mounted electric motor. An electronic controller commands the motors powering the two wheel clusters and of each of the six drive wheels. The independent controllability of each wheel and of the wheel clusters relative to the platform allows the device to steer and to ascend and descend steps.

Abstract: Hand trucks having a powered lifting assembly are disclosed. In certain aspects, hand trucks having a motor assembly and a battery pack mount arranged to removably receive a battery pack arranged for a portable tool are disclosed. Hand trucks having a pivoting rearward support are also disclosed, with particular arrangements advantageously pivoting the rearward support upwardly as it is configured into the retracted configuration so as to lift wheels of the rearward support above other wheels of the hand truck.

Abstract: A step-climbing attachment for a wheeled chair, the attachment comprising a first wheel having at least a hub and a rim spaced from the hub, the hub and rim defining an inner region, a second wheel having a different diameter than the first wheel, and the second wheel being rotatably mounted to an extending arm, the extending arm being movable relative to the first wheel between a first position and at least one second position by a controllable mechanism, wherein the controllable mechanism is housed at least partially within the inner region of the first wheel, wherein the second wheel is driven by rotation of the first wheel.

Abstract: A remote controlled cart includes a body, an electric battery coupled to the body and a pair of track assemblies coupled to the body. The remote controlled cart includes an electric motor operatively coupled to the battery. The electric motor is configured to supply propulsion power to the pair of track assemblies. The remote controlled cart includes a body cover coupled to a top surface of the body. A top surface of the body cover includes at least one pair of rails. The pair of rails removably couples a task module with the body cover.

Abstract: A mobile transport device is provided which has leg-like mobility fittings and a useful surface. The useful surface is in particular a seat unit of a motor vehicle which can transport a person seated on the seat unit out of a motor vehicle to a destination by means of the leg-like mobility fittings and without any climbing.

Abstract: When a vehicle body is on board an escalator, a control device makes an ejection determination by use of an external sensor. The control device makes an ejection determination by use of front-wheel rotation sensors. The control device makes an ejection determination by use of an inclination detecting unit. The control device switches a control mode from a boarding control mode to an ejection control mode, when at least one of the above three ejection determinations is affirmatively made.

Abstract: A drive assembly is provided and includes a rotatable housing, a motor disposed within and to rotate with the housing, the motor including a drive element and first and second drive shafts, which are independently rotatably drivable by the drive element, a first drivable element coupled to the first drive shaft such that rotation thereof is transmitted to the first drivable element and configured to propel the housing in a first direction during first drive shaft rotation and a second drivable element coupled to the second drive shaft such that rotation thereof is transmitted to the second drivable element and configured to propel the motor in a second direction, which is transversely oriented relative to the first direction, relative to the housing during second drive shaft rotation.

Abstract: The present invention provides a manual stair climbing wheel chair. The wheel chair comprises a hand crank handle, seat reclining devices, a gear box and a driven sprocket wheel set. When the seat of the wheel chair is reclined by using the seat reclining devices, the front and rear wheels of the wheel chair are only driven by the gear box through the driven sprocket wheel set, and cannot be pushed or propelled by hands; the person propelling the wheel chair can drive the front and rear wheels only by rotating the hand crank handle, so that self-slippage of the wheel chair can be avoided when moving up and down on stairs.

Abstract: A docking station for a mobile robot comprising a base portion that is locatable on a floor surface and a rear portion that is pivotable with respect to the base portion, thereby permitting a user to place the docking station on the floor in an unfolded configuration but to store the docking station in a folded configuration.

Abstract: An inventory system includes an inventory holder that may be moved by a mobile drive unit. The inventory holder may hold inventory items. The mobile drive unit may move in a manner for facilitating a shift of position of at least one inventory item relative to the inventory holder. Such movement may be accomplished, for example, by accelerating, decelerating, turning while driving, spinning, dropping the inventory holder, or by causing at least one of the mobile drive unit or the inventory holder to at least one of interact with or engage an obstacle such as a bump over which the mobile drive unit drives, a bar positioned above a floor on which the mobile drive unit drives, a wall, another mobile drive unit, or another inventory holder.

Abstract: A robotic vehicle (10,100,150A,150B150C,160,1000,1000A,1000B,1000C) includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).

Abstract: A patient support includes a base, a deck for supporting a patient, and a lift mechanism supporting the deck on the base and configured to adjust the orientation of the deck while allowing the head and foot sections of the deck to be articulated with respect to the seat section of the deck.

Abstract: A step climbing attachment suitable for attachment to a wheeled chair is described. The step climbing attachment includes a chassis for mounting one or more ground engaging units, a first and a second ground engaging unit mounted to the chassis, at least one of the first and second ground engaging units adapted to move relative to the other of the first or second ground engaging units and the chassis, the relative movement being between a ground engaging position and a step-engaging support position so that in use at least one of the first and/or second ground engaging units engages a step.

Abstract: There is provided a walker apparatus having a pair of spaced-apart, upright frame members. The walker apparatus includes a seat operatively connected to the upright frame members. The walker apparatus has a backrest cantilevered from the frame members. The backrest has at least one opening extending therethrough for permitting a user's vision past the backrest when the user grips the upright frame members.

Abstract: An assistance device includes a body having two wheels, and a pivotal device located in the body. Two transmission units are pivotably connected to the pivotal device by two shafts. A restriction unit includes a first link, a second link and a rail which is connected to the body. The first link has the first end pivotably connected to one of the two transmission units. The second link is pivotably connected to the other one of the two transmission units. A roller is connected to the first end of the second link and movable along the rail. A leg having a top end to which the second end of the first link is pivotably connected. The second end of the second link is pivotably connected between the top end and the lower end of the leg. The leg contacts against the ground to lift the body to climb stairs.

Abstract: The present document describes a robot for transforming a rotation movement into a vertical/horizontal displacement on the ground using legs, said robot comprising a chassis; a rotation shaft connected to said chassis; a plurality of leg modules connected to said shaft at a first end for rotating around said shaft; a plurality of legs, each of said legs being rotatably attached to one of said leg modules at a second end opposite the first end; a mechanism for keeping a lower surface of said legs horizontal to the ground as the robots rotates around the rotation shaft for allowing the robot to move on flat surfaces as well to climb stairs.

Abstract: The present disclosure is directed at an adaptable vehicle that includes a pair of primary rollers for rolling along a surface on which the vehicle is travelling. At least one of the rollers is rotatably powered. The adaptable vehicle also includes two sets of linking arms, one of which is coupled to one of the rollers and the other of which is coupled to the other of the rollers such that moving the sets of linking arms can shift the axes of rotation of the rollers without impeding rotation of the rollers. The sets of linking arms are connected to and rotatable about an actuatable hub. Actuation of the hub causes at least one set of the linking arms to rotate about the hub and shifts the axis of rotation of at least one of the rollers to allow the vehicle to adapt to its surroundings.

Abstract: A wheel assembly and a wheel are suitable for use with a mobile platform. The wheel assembly comprising a first wheel and a second wheel, each wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, where the first wheel is rotatably mounted to the second wheel on a common axis, and a control mechanism rotates the first wheel with respect to the second wheel.

Abstract: Provided is an arm-wheel type vehicle including: a main body; an arm that is rotatably installed to the main body; a wheel connected to the arm; a first buffer device that is installed on the main body; and a second buffer device that is installed on the arm.

Abstract: The present invention relates to a transport device 1, comprising a load carrying body 10, at least one central walking element 80, 90, 100, a first side walking element 20 and a second side walking element 50, wherein the at least one central walking element 80, 90, 100 is arranged in-between the two side walking elements 20, 50 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving up and down with respect to the load carrying body 10, wherein the side walking elements 20, 50 can move up and down independently from the central walking element(s) 80, 90, 100 by means of vertical actuators 26, 56 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving back and forth in horizontal direction with respect to the load carrying body 10, wherein the walking elements 20, 50 can move back and forth independently from the central walking element(s) 80, 90, 100 by means of horizontal ac

Abstract: Mobile robot comprising a body (30), a first locomotion unit (43) and a second locomotion unit (53) pivotally connected to two lateral opposite sides of the body (30) and arranged to rotate passively relative to the body about an axis (31) transverse to the body, the mobile robot further comprising a transmission system (91) connecting said first and second locomotion units (43, 53) and the body (30), characterized in that the mechanical transmission is arranged to limit the relative rotation of the locomotion units (43, 53) relative to the body (30) such that the first and second locomotion units (43, 53) rotate in opposite directions and such that the rotation angle (?) of the first locomotion unit (43) relative to the body (39) equates in absolute value the rotation angle (?) of the second locomotion (53) unit relative to the body (30).

Abstract: An obstacle traversing wheel assembly can include at least one primary wheel member mounted with a primary axis of rotation and capable of rolling engagement with a supporting surface, and at least one secondary wheel member mounted with a secondary axis of rotation. The secondary wheel member can have a plurality of surface engaging protrusions which enable the wheel assembly to traverse an obstacle by imparting climbing movement to the primary wheel member in response to engagement with the obstacle. The surface engaging protrusions can be defined by rolling wheel members. The obstacle traversing wheel assembly can be incorporated on a wide variety of wheel-bearing devices, such as wheelchairs, personal transportation devices, and intravenous fluid support racks.

Abstract: A robotic vehicle (10,100,150A,150B150C,160,1000,1000A,1000B,1000C) includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: A stair climbing wheel and vehicles are described. The stair climbing wheel has a rolling wheel and a plurality of deployable protrusions that allow the wheel to climb stairs. The deployable protrusions can be deployed from or retracted into the rolling wheel. In the retracted position, the stair climbing wheel functions as a traditional circular wheel. These stair climbing wheels can be incorporated on a wide variety of vehicles, such as hand trucks, wheelchairs, and personal transports to allow these vehicles to climb stairs.

Abstract: The invention relates to an arrangement (9) for overcoming an obstruction (8) to traveling movement, preferably on an automatically traveling floor cleaning appliance (1) having a driven travel wheel (3). To configure an arrangement of the kind in question in an improved manner, it is proposed that on the travel wheel (3), a lifting part (10) is mounted in an eccentrically pivotable manner, the lifting part protruding with a front end surface (12) beyond a running surface (7) of the travel wheel (3) in the direction of travel (r), a counter mounting being provided which is fixed to the housing.

Abstract: A circular folding wheel has a center wheel section encompassing the center of a circle and adapted to be mounted to an axle at the center, with a side substantially corresponding to a chord of the circle. A wheel segment is pivotally attached to the center wheel section about a pivot axis extending along the side of the center wheel section. The wheel segment is movable from a rolling orientation, where the outer edge of the wheel segment is aligned with an outer edge of the center wheel section such that the folding wheel takes a rolling circular shape, to a folded orientation where the wheel segment extends laterally away from the pivot axis. Two, three, or more wheel segments can be pivotally attached to corresponding sides of the center wheel section.

Abstract: A passively transformable wheel includes a wheel base including a centrally positioned transmitter rotation shaft and one or more passive leg rotation shafts positioned in the outer periphery; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and one or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter.