Abstract: A vehicle having a multiple of level compensation systems is disclosed. The vehicle comprising a chassis having a left frame, a right frame and a base plate, a first level compensation system comprising a pivot joint for pivotably connecting the left and right frames to the base plate around a common rotational axis. A first axial distance from a left rotation axis of a left wheel pair to the rotational axis is different from at least one second axial distance from a right rotation axis of a right wheel pair to the rotational axis, such that the left and right wheel pair have at least one off-set to each other. Moreover a method for traversing stairs with such vehicle is disclosed.

Abstract: A vehicle includes a chassis and a plurality of wheel assemblies articulated with the chassis, each of the plurality of wheel assemblies comprising a rotatable wheel spaced away from the chassis. A vehicle includes a chassis and an articulated suspension system mounted to the chassis. A method includes comprising articulating at least one of a plurality of wheel assemblies with a chassis, each of the wheel assemblies including a rotatable wheel spaced apart from the chassis. A vehicle includes a chassis and articulatable means for rolling the chassis along a path.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A steerable walking machine is described which comprises a leg mechanism that provides a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism. The rotational position of the head upon the leg mechanism acts to defines a direction of locomotion of the machine across the surface. The steerable walking machine can therefore walk in any direction without requiring the leg mechanism to turn and so can maneuver in more confined spaces than those devices known in the art. A first motor is employed to control the leg mechanism while a second motor controls the rotation of the head upon the leg mechanism. The functionality of the steerable walking machine is therefore achieved through the employment of only two motors thus significantly reducing the manufacturing costs involved.

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 two-legged walking transportation device includes an upper body unit for supporting the trunk of the rider, and leg units provided below the upper body unit, each of the leg units includes a link mechanism connected at one end to the upper body unit via a hip joint with at least three degrees of freedom, a foot mechanism connected to the other end of the link mechanism via an ankle joint with at least two degrees of freedom, and a fixing mechanism for fixing the rider's foot to the link mechanism via a multi-axis force sensor so as to be only rotatable with respect to directions in which the ankle joint is movable, the hip join is voluntarily controlled in accordance with operating force and/or operating torque provided by the rider's foot and sensed by the multi-axis force sensor, and control of the ankle joint while standing is automatically performed as balance maintenance control without directly involving the rider.

Abstract: The mobile climbing robot (15) according to the invention comprises a central joint (3), by which a first leg (1) is connected to a second leg (2). In addition, the robot comprises a first foot (8) which is connected to the first leg (1) by way of a first foot joint for rotation (5) and a first foot joint for tilting (4). A second foot (9) is connected to the second leg (2) by way of a second foot joint for rotation (7) and a second foot joint for tilting (6). A mounting (11) for attaching an implement (10; 12) is disposed on the first foot (8).

Abstract: A stair-climbing device including a support unit, a climbing unit driven by a motor and a control unit for controlling operation of the climbing unit, wherein a detection unit is provided for detecting the current position of the support unit with respect to one or several steps of a stair which includes at least one non-contact sensor, wherein the detection unit provides signals to the control unit, which signals contain information about the current position of the support unit with respect to one or several steps of the stair, and wherein the control unit is adapted to control operation of the climbing unit depending on signals of the detection unit.

Abstract: An electric dolly system for transporting an object up and down stairs having a base platform connected to a bottom end of support rails, a handle at a top end and a pair of wheels at the bottom end, a track belt wrapped around a first and second rotator component adapted to rotate around the rotator components like a conveyor belt using a motor, the first rotator component is connected to the support rails via a first extension arm and the second rotator component is connected to the support rails via a second extension arm, the first extension arm is positioned closer to the handle and is longer than the second extension arm such that the track belt is at an angle with respect to the support rails.

Abstract: A motion state evaluation apparatus of a legged mobile robot uses virtual surfaces (S3a, S2a, S2b) to approximate a plurality of surfaces to be contacted (FL, WL1, WL2) in an operating environment of the robot (1), and calculates translational forces (required virtual surface translational forces) to be applied from virtual surfaces (S3a, S2a, S2b) to the robot (1) in order to implement a compensating total translational external force related to a translational motion of the robot (1). The motion state evaluation apparatus evaluates the motion state of the robot on the basis of the required virtual surface translational forces.

Abstract: A desired motion evaluation apparatus of a legged mobile robot uses virtual surfaces (S3a, S2a, S2b) to approximate a plurality of surfaces to be contacted (FL, WL1, WL2) in an operating environment of the robot (1), and calculates translational forces (required virtual surface translational forces) to be applied from virtual surfaces (S3a, S2a, S2b) to the robot (1) in order to implement a translational motion of the desired motion of the entire robot (1). The desired motion evaluation apparatus evaluates the desired motion on the basis of the required virtual surface translational forces.

Abstract: An external force target generating device of a legged mobile robot uses virtual surfaces S3a, S2a, and S2b to approximate a plurality of surfaces to be contacted FL, WL1, and WL2 in an operating environment of a robot 1, and determines provisional values of translational forces (required virtual surface translational forces) to be applied from the virtual surfaces S3a, S2a, and S2b to the robot 1 in order to implement a compensation total translational external force related to a translational motion of the robot 1.

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: Disclosed is a method of generating a hip trajectory of a biped walking robot to allow the robot to stably walk on a two-dimensional space without falling down. An angular velocity of a hip of a swinging leg is obtained by measuring the angle/angular velocity of an ankle pitch joint part of a supporting leg in real time when the robot walks on the two-dimensional space, and desired trajectories of the ankle and the hip are generated based on the angular velocity of the ankle of the supporting leg and the angular velocity of the hip of the swinging leg.

Abstract: This present invention is a personal mobility device for transporting a person over different surfaces and obstacles. This invention comprises novel technology that can be used for next-generation motorized wheelchairs that enable people to travel outside during winter months, to go “off-road,” and to travel up and down staircases independently. This invention features shape-changing wheels that change shape to travel more effectively on different surfaces and obstacles. The shape of a shape-changing wheel is changed by the motorized rotation of at least two rotating members that are part of the shape-changing wheel. Rotation of these rotating members into a first configuration causes the ground-contacting perimeter of the wheel to be circular. Rotation of these rotating members into a second configuration causes the ground-contacting perimeter of the wheel to be non-circular.

Abstract: Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system.

Abstract: A driving system that can allow a vehicle to go over or ascend obstacles or stairs through a step driving manner is provided. The driving system includes a power transmission unit connected to a main shaft connected to a power generation unit installed on the wheel frame, a plurality of driven units engaged with the power transmission unit and supporting the rotation of wheels by rotational force from the power transmission unit, and a carrier to which the power transmission unit and each of the driven units are operationally fixed and which goes over the obstacles by rotating when the driven units are stopped by the obstacles.

Abstract: A vehicle (10) comprising a vehicle body, a suspension system coupled to the vehicle body, and a plurality of wheels (16) coupled to the suspension system comprising at least one pair of wheels, each wheel of the at least one pair of wheels being located on opposite sides of the vehicle. The suspension system comprises a changeable wheel track width for the at least one pair of wheels and the wheel track width is changeable between a narrow wheel track width setting (12) and a wide wheel track width setting (14) by pivoting a suspension link (18) about a vertical axis.

Abstract: The present invention is an improved structure for robotic cleaner primarily comprising of a chassis with plurality of spherical casters fixed to the periphery of bottom deck, a dust collector mounted on the chassis, a lifting actuation mechanism mounted on the chassis that includes a lifting power supply at least to drive two parallel and extendable first swing arms and two parallel and extending second swing arms through a relevant linking device, a first gear train and a second gear train that can pivotally rotate in reverse direction, a drive wheel mounted at the moveable end of the two parallel and extending first swing arms each, a driven wheel mounted at the moveable end of the two parallel and extending second swing arms each, plural advancing power supplies mounted at the middle section of the first swing arms.

Abstract: An articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis.

Abstract: A surface vehicle capable of overcoming obstacles is disclosed in which the vehicle accelerates vertically while having a horizontal velocity. The vehicle has a frame and at least three wheels attached to the frame to which a horizontal propulsion system is coupled. Further, a vertical propulsion system is coupled to the frame and the wheels. The vertical propulsion system is capable of providing a force to such wheels normal to the surface so that the vehicle separates from the surface. The vehicle has an electronic control unit coupled to the vertical propulsion system to automatically control its operation. Further, sensors are used to evaluate the characteristics of the surface that pertain to supporting a vertical acceleration/deceleration.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

Abstract: A wheelchair suspension is provided. The wheelchair suspension includes a frame, a front caster pivot arm, a drive assembly, and a rear caster. The front caster pivot arm is pivotally connected to the frame. The front caster is coupled to a front end of the front caster pivot arm. The drive assembly is pivotally connected to the front caster pivot arm. The drive assembly comprises a drive wheel and a motor that drives the drive wheel. Torquing of the drive wheel by the motor in a forward direction causes the drive assembly to pivot with respect to the front caster pivot arm such that the drive wheel moves forward toward the front caster and a distance between a support surface and the connection between of the drive assembly and the front caster pivot arm increases.

Abstract: One embodiment of the invention includes an application of multilayer thermo-reversible dry adhesives in climbing devices.

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: An apparatus and method for transporting a payload over a surface is provided. A vehicle supports a payload with a support partially enclosed by an enclosure. Two laterally disposed ground-contacting elements are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle.

Abstract: A multi-legged walking device includes a crankshaft, a plurality of linkage bar mechanisms, a support member, and a driving device. The crankshaft includes a plurality of main journals and crankpin journals. The plurality of linkage bar mechanisms is spaced from and substantially parallel to each other. The linkage bar mechanisms include a plurality of frames. Each frame is rotatably connected to one of the plurality of main journals. Each linkage bar mechanism includes a connecting bar, a first rocker, a second rocker, and a leg. Two ends of the connecting bar are rotatably connected to one of the crankpin journals and the leg. Two ends of the first rocker are rotatably connected to one of the plurality of frames and the leg. Two ends of the second rocker are rotatably connected to one of the plurality of frames and the connecting bar. The support member is fixed to the frames.

Abstract: The present invention is an improved structure for robotic cleaner primarily comprising of a chassis with plurality of spherical casters fixed to the periphery of bottom deck, a dust collector mounted on the chassis, a lifting actuation mechanism mounted on the chassis that includes a lifting power supply at least to drive two parallel & extendable first swing arms and two parallel & extending second swing arms through a relevant linking device, a first gear train and a second gear train that can pivotally rotate in reverse direction, a drive wheel mounted at the moveable end of the two parallel & extending first swing arms each, a driven wheel mounted at the moveable end of the two parallel & extending second swing arms each, plural advancing power supplies mounted at the middle section of the first swing arms.

Abstract: Mobile robot systems and methods are provided. At least one tracked mobile robot has a first end comprising a first pair of wheels, a second end comprising a second pair of wheels, an articulated arm coaxial with the first pair of wheels, and a driven support surface surrounding the first pair of wheels and the second pair of wheels. The at least one mobile robot surmounts obstacles and performs additional maneuvers alone and in combination with at least one other mobile robot.

Abstract: The invention relates to a swimming pool cleaner with wheels driven by a turbine. The pool cleaner is intermittently turned from its path of travel along an underwater surface. A turning cam is provided inwardly of and adjacent to each of a pair of the side wheels. The cams are rotatably mounted on the turbine driven wheel axle which extends between said wheels. Each cam intermittently extends a gripping formation beyond the operatively supporting surface of the adjacent wheel. The cams will preferably comprise a disc with an integral annular internal ring gear formed. An inner gear is fixed for rotation with the axle and an outer gear is supported between the inner gear and the ring gear to rotate the cam. The inner gear is an interrupted gear member to cause intermittent stepwise rotation of the ring gear and the outer gear is a sprocket supported for unidirectional rotation.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.

Abstract: A biologically inspired climbing device with toes and spines is provided. The device has toes capable of moving independently from each other. Each toe distinguishes a compliant linkage, which has non-compliant parts and compliant parts. Spines are distributed over each of the toes. The spines have a diameter that is less than or equal to a diameter of an asperity of a surface. The toes with spines could be arranged into one or more feet. The feet could then be organized in legs enabling the device to climb a surface in a gait pattern. The device uses low power and is quiet, leaves no traces or tracks behind, works well on smooth, rough, uneven, porous and dirty surfaces, and is able to carry and support its own body weight.

Abstract: To provide an inverted wheel type moving body capable of improving the operability, and a method of controlling the same. An inverted wheel type moving body in accordance with one aspect of the present invention includes motors 34 and 36 for rotationally driving a right driving wheel 18 and a left driving wheel 20 respectively, a passenger seat 74 rotationally supported on mounts 26 and 28 through swing arms 17 and 19, a passenger seat drive motor 70 for driving the passenger seat 74, a control portion 80 for determining whether the manipulation amount exceeds the threshold value or not, and a motor driver 70a for control the passenger seat drive motor 70 such that the passenger seat 74 is moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seat 74 is restored after the manipulation amount exceeds the threshold value.

Abstract: An apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its Center of Mass and balance on two motorized wheels. The robot includes a pair of arms that are connected to the upper body of the robot through motorized joints. The method consists of a series of movements employing the arms of the robot to raise the robot to the upright position. The method comprises a control loop in which the motorized drives are included for dynamic balance of the robot and the control of the arm apparatus. The robot is first configured as a low Center of Mass four-wheeled vehicle, then its Center of Mass is raised using a combination of its wheels and the joint located at the attachment point of the arm apparatus and the robot body, between the rear and front wheels; the method then applies accelerations to the rear wheels to dynamically pivot and further raise the Center of Mass up and over the main drive wheels bringing the robot into a balancing pendulum configuration.

Abstract: A legged robot that can ensure a large step length while keeping the height of a body trunk at a low position without increasing a moment that is generated due to the gravitational force acting on the trunk and acting on roll joints of legs when standing on one leg is realized. In the legged robot, a pair of legs is connected so as to be able to rotate around a pitch axis (Y-axis) at lateral surfaces of a trunk. Thereby, it is possible to make the height H1 high while keeping the height of the trunk low. It is possible to ensure a large step length while keeping the height of the trunk at a low position. Legs have a structure in which roll joints are positioned below a bottom surface. Thereby, the length L1 in the pitch axis direction between the rotation axis C1 of these joints and the center of mass G of the trunk is limited. The moment acting on the roll joints of the grounding leg when standing on one leg is not increased.

Abstract: An automotive device for the inspection of internal spaces having ferromagnetic surfaces includes at least two magnetic wheels (3) or caterpillars, or at least two magnetic legs for the advancement of the device along the surfaces to be inspected. According to the invention, the device includes actively powered rotating arms (1) attached to a wheel (3), caterpillar, or leg of the device. Each rotating arm (1) has a length longer than the shortest distance between the point of attachment of the rotating arm to the device and the surface. When the device is in a position, where there is magnetic contact to the surface in two or more points and the device is no longer able to advance due to the strength of the magnetic forces, the rotating arms are brought into non-magnetic contact with the surface in order to create an air gap between the surface and the magnetic wheel and thus reduce the magnetic forces. The device is thereby enabled to overcome the magnetic forces and advance the device along the surface.

Abstract: A chair configured for transporting a subject (e.g., up or down an elevated surface (e.g., a stairway, a curb, a ramp, etc.)) and methods of using the same is provided. In particular, a chair comprising a rail assembly, a pair of back legs and a pair of front legs, wherein the rail assembly is fastened to the back legs and wherein the back legs and front legs are interconnected via a pair of side rails and a seat assembly, wherein the seat assembly comprises a seat frame and a swivel seat assembly, and methods of using the same (e.g., to load and/or unload a subject onto the chair and/or to transport a subject) are provided.

Abstract: A legged robot is provided whose trunk link is not prone to wobble in the front-back direction during walking. The legged robot is equipped with a trunk link and a pair of legs. Each leg has a pitch joint capable of rotating the connected links in a plane that intersects with a line extending in a lateral direction of the robot. Rotation centers of the pitch joints are located above a center of gravity of the trunk link. The legged robot walks mainly by swinging the legs backward and forward around such rotation centers. Hence, the trunk link wobbles mainly in the front-back direction around the rotation centers as the robot walks. Because the center of gravity of the trunk link is located below the rotation centers, the gravitational force acting on the trunk link acts in a direction to suppress swinging of the trunk link during walking. Due to this, the trunk link of the legged robot is not prone to wobble in the front-back direction during walking.

Abstract: A walking bi-pedal robot includes a right leg and a left leg, each coupled with a pelvis via hip lateral angular joints and hip antero-posterior angular joints. Each hip lateral angular joint enables lateral angular motion and each hip antero-posterior angular joint enables antero-posterior angular motion of the respective leg. Right and left feet couple at the distal end of the respective leg via respective ankle lateral angular joints and right and left cables. One end of each cable is coupled with the exterior side of the respective foot. A pelvis motor couples with the right leg, the left leg, the other end of each cable. The pelvis motor generates lateral angular displacement of each leg about the respective hip lateral angular joint and pulls one of the cables according to the direction of the lateral angular displacement. Leg motors generate antero-posterior angular displacement of the respective leg.

Abstract: A method for the locomotion of devices on opposite sides of a surface, one or more of which are mobile robots. Devices on opposing sides of the surface are coupled by an attractive force, which helps generate enough friction between said devices and the surface to allow devices to move across the surface.

Abstract: A surface vehicle capable of overcoming obstacles is disclosed in which the vehicle accelerates vertically while having a horizontal velocity. The vehicle has a frame and at least three wheels attached to the frame to which a horizontal propulsion system is coupled. Further, a vertical propulsion system is coupled to the frame and the wheels. The vertical propulsion system is capable of providing a force to such wheels normal to the surface so that the vehicle separates from the surface. The vehicle has an electronic control unit coupled to the vertical propulsion system to automatically control its operation.

Abstract: A robotic platform is presented, having a tiltable operational assembly. The operational assembly incorporates imaging means, designation means and operational means in a synchronized manner thus simplifying the maneuvering of the robotic platform and the operation of its operational means by a remote operator. The operational assembly can be tilted backwards in order to shift the center of gravity of the robotic platform towards its rear to decrease pressure from the front end of the robotic platform to the ground. Alternatively, the operational assembly can be used as an arm which applies pressure over obstacles to raise its distal end from the ground while overcoming obstacles. Tilting the operational assembly also provides double-sided operation of the robotic platform without the need to perform maneuvers which flip the entire robotic platform.

Abstract: A motorized hand truck has six wheels around an axle. An electric motor, through a worm drive, drives a gear box connected to the axle. The hand truck can be used horizontally to carry long objects. It could be used to carry stretchers for example. In fact, for heavy object, using it horizontally is safer for the user who is below the load and controls it from a low center of gravity.

Abstract: The present invention provides an assistant apparatus for surmounting a barrier, which comprises a carrier body, an assistant mechanism, and a sensing/driving apparatus. The assistant mechanism, disposed at a side of the carrier body, having an assistant block disposed at the end thereof, functions to place the assistant block on the ground between the carrier body and the barrier so that the carrier body is capable of surmounting the barrier through the assistance of the assistant block. The sensing/driving apparatus, coupled to the assistant mechanism, functions to drive the assistant mechanism to generate the adjusting movement according to whether the barrier is detected or not. By means of the design of the present invention, the assistant block is adopted to reduce the height surmounted by the carrier each time so that the carrier is capable of surmounting the barrier section by section.

Abstract: A robotic vehicle (10,100,150A,150B150C,160,1000,1000A, 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 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 for controlling movement of an intelligent wheel over a discontinuity in a travel surface. The intelligent wheel has a rotational hub and support disc portion that carries a series of arcuately spaced extendable, weight bearing radial spoke mechanisms that can be controllably extended and retracted in response to the anticipated terrain surface over which the wheel is to travel. The hub of the intelligent wheel carries a microcontroller for a set of obstacle proximity sensors, force and position sensors and an appropriate electrical power supply for operation of spokes and control components.

Abstract: Disclosed is a crawler robot which, even of a small size, can climb over a high step and which can perform various aspects of operations. Rollers, are arranged at apexes of triangular frames, and elastic crawlers are wrapped around the rollers, with the two frames being connected by a central support shaft. Rotatably provided to the central support shaft is a one-joint link composed of a first link and a second link connected together by a rotation shaft. An end portion of the second link is rotatably connected with a front shaft of a subordinate crawler device equipped with crawlers wrapped around rollers. As a result, the crawler robot is composed of a triangular crawler device and the subordinate crawler device connected together by the one-joint link. The crawler robot can be operated by rotating and bending the link and by rotating the crawler devices in arbitrary directions.