Abstract: The present invention discloses a barrier-overpassing transporter, which comprises: a support frame carrying a rider or another load; a sensing/adjusting module detecting a tilting state of the support frame and maintaining the support frame in a horizontal state; a ground contact module arranged below the support frame supporting an effective load and lifting the support frame to overpass a surface of a barrier; and a wireless transceiver module collecting and transmitting information to enable adjustments and activities responding to interior states of the transporter. Thereby, the present invention can provide a safe, stable, reliable, comfortable, convenient and low-cost barrier-overpassing transporter.

Abstract: Disclosed are vehicles and methods for transporting materials.

Abstract: The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

Abstract: A transport vehicle includes a self-balancing vehicle base. A platform is supported on the base and is displaceable relative thereto between a first position and a second position. A support device engages the platform and supports at least a portion thereof during displacement between the first position and the second position. A method is also included.

Abstract: A vehicle for use in arctic environments, the vehicle comprising a hull for accommodating people, and a pair of rotatable propulsion screws connected to the hull for propelling the vehicle on water, ice, snow and land. Each propulsion screw comprises a shaft having at least one blade helically disposed therearound.

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: The wheelchair for stairs and obstacles consists of a power supply assembly (FIG. 1, item 8), i.e., internal combustion motor serving as battery charger, a battery, a drive wheel-belt pulley (FIGS. 1 and 4, item 1), a tyre (or a full-rubber ring) of a greater diameter FIGS. 1 and 4, item 1a), indented drive belts of a smaller diameter FIGS. 2, 4 and 5, item 26), a foldable front wheel-pulley belt pendulum-support (FIG. 1, item 2, FIG. 3), pendulum elevating assembly (FIG. 1, items 4, 5 and 6), caster wheel elevator (FIG. 2, items 23, 24 and 25), legrest elevator (FIG. 2, item 18a), seat moving assembly to shift the centre of gravity in stair-climbing (FIG. 1 and 2, items 9, 9a, 9b and 9c), enabling the user to move comfortably indoors and on a flat surface with a partly elevated caterpillar drive pendulum (FIG. 1), to negotiate depressions and protrusions (FIG. 6), thresholds, curbs, etc. (FIG. 2), to move upstairs (FIG. 7) and downstairs (FIG. 8), thus having an unlimited radius of movement.

Abstract: A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Abstract: Robotic vehicle systems and methods regarding such systems, such as, e.g., methods of movement for such robotic vehicle systems (e.g., movement across varying terrain including steps).

Abstract: A traveling robot includes a body frame having a front wheel; a rear wheel which is disposed on a rear side of the front wheel along a traveling direction; a rear frame which supports the rear wheel and is supported by the body frame so as to move vertically; a driving wheel which is disposed between the front wheel and the rear wheel in the traveling direction; a driving frame which supports the driving wheel and is coupled to the body frame by a hinge whose axis is parallel to an axis of the driving wheel; and a linkage member which is coupled to the driving frame to be contacted with or separated from the rear frame as the driving frame is rotated relative to the body frame.

Abstract: The transportation apparatus includes a frame a seat portion which slides on the frame. A leg support pivots about the seat portion. At least one middle leg and at least one rear leg depends downwardly from the seat portion. At least one middle wheel is connected to the middle leg and at least one rear wheel is connected to the rear leg. The middle wheel and rear wheel define a middle and rear rotation axes, respectively. At least one front wheel is connected to the leg support. The middle leg is movable to adjust the vertical position of the middle wheel, and the rear leg is movable to adjust the vertical position of the rear wheel.

Abstract: A collapsible spider wheel assembly on a towing device enables storage of the device into a standard rectangular space. Once collapsed, the collapsible spider assembly is protected within the body of the towing device. Furthermore, actuation of the folding and unfolding may be accomplished through the usual telescoping of the carrying handle of such a device, such as in a suitcase embodiment. While the spider wheels are in the open position, the carrying apparatus may exert a drive force to climb up stairs and braking force to descend stairs. The unit operates as a normal wheeled carrying apparatus while traversing a horizontal surface.

Abstract: Twinned circular, parallel arrays of spoke-like second-class levers (10, 12) enclosing a centered cargo cradle for towing 2½ ton stone blocks (26) up a stepped structure of stone courses (34) by rotation of the whole.

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 moving robot includes a first arm portion is coupled to a first joint on a side portion of a main robot body. The first arm portion has concave portion with an opening. A folding mechanism is accommodated in the concave portion. In the folding mechanism, a second arm portion is connected to the first arm via a second joint portion. A third arm portion is also connected to the second arm portion via a third joint portion. The first arm portion is rotated around the first joint to orient the opening in an upper direction. The second joint portion can be slid along the concave portion to take out the folding mechanism through the opening. The third arm portion can be rotated around the third joint portion to extend the third arm portion.

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 quad tracked vehicle may include a forward starboard track arm, an aft starboard track arm, a forward port track arm, and an aft port track arm. Forward track arms may be mounted for rotation about a vehicle body around axis of forward track arm by a forward coaxial transmission and motor, while aft tracks arms may be mounted for rotation about vehicle body around axis of aft extended coaxial transmission by an aft motor. Tracks may be mounted for rotation around track arms and rotate about minor axes. Forward tracks may rotate about forward major axis and aft tracks about aft major axis. Starboard tracks may be rotated by starboard motor, and port tracks by port motor.

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 wheels rotating by rotational force of 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 stop due to the obstacles.

Abstract: An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, includes slope-detection means for sensing a slope of a floor, rotating means installed on a bottom surface of each of the two or more legs, and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution.

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 stair chair for transporting a person up and down a flight of stairs and over a surface is disclosed. The stair chair comprising a main frame and a glide track assembly to support the stair chair for movement on the flight of stairs. The glide track assembly is pivotally connected to the main frame for pivotal movement between open and closed positions. The glide track assembly has at least one endless glide track. The stair chair also provides an adjustable glide track resistance and braking device which engages the endless glide track and is configured to infinitely adjust the amount of resistance applied to the endless glide track between 0 to 100% resistance and to set a desired rolling resistance applied to the endless glide track.

Abstract: An automated wheelchair for moving over a contact surface. The automated wheelchair includes an operator chair for seating the wheelchair operator, a control computer, an operator input device for transmitting operator inputs to the control computer, and two wheelchair wheels for propelling the wheelchair. Each wheelchair wheel includes extendable and retractable spokes. The extension and retraction of each spoke is controlled by a motor. At the ends of each spoke are contact sensor devices. The control computer is programmed to receive inputs transmitted from the contact sensor devices to record contact position data. The control computer generates and sends control signals to each spoke motor in response to the operator inputs and in response to the contact position data generated by the contact sensor devices.

Abstract: An embodiment of a high-mobility vehicle comprises a vehicle body, a track assembly attached to the vehicle body, arms pivotally attached to the vehicle body, and trackless drive wheels mounted on distal ends of the arms. Another embodiment of a high-mobility vehicle comprises a vehicle chassis, right and left drive motors attached to the vehicle chassis, right and left power transmission mechanisms having high torque and low torque sets of gears, track assemblies coupled to the high torque sets of gears, and trackless drive wheels coupled to the low torque sets of gears.

Abstract: The present invention relates to a wheelchair suspension that includes a pivoting assembly. The pivoting assembly includes at least two linkages. The pivoting assembly is structured so that the drive assists the wheelchair in traversing obstacles.

Abstract: An apparatus for moving the center of gravity of a robot, and a system and method using the apparatus are provided. The apparatus includes a weight conveyor with a conveyed weight weighing a predetermined amount and disposed within the main body of the robot. The conveyed weight is conveyed in a predetermined direction to move the center of gravity of the robot, thus allowing a non-driven caster of the robot to surmount obstacles in its path and not become stuck while the robot is moving.

Abstract: An automated wheelchair for moving over a contact surface. The automated wheelchair includes an operator chair for seating the wheelchair operator, a control computer, an operator input device for transmitting operator inputs to the control computer, and two wheelchair wheels for propelling the wheelchair. Each wheelchair wheel includes extendable and retractable spokes. The extension and retraction of each spoke is controlled by a motor. At the ends of each spoke are contact sensor devices. The control computer is programmed to receive inputs transmitted from the contact sensor devices to generate a terrain profile. The control computer generates and sends control signals to each spoke motor in response to the operator inputs and in response to the terrain profile generated by the contact sensor devices. In a preferred embodiment the contact sensor devices are pressure sensor devices. Also in a preferred embodiment, rotatable pneumatic wheels are attached to both ends of each spoke.

Abstract: A stair climbing wheelchair carrier operable by an unassisted wheelchair user is provided. The carrier includes a crawler drive unit and a carrying unit. The carrying unit includes a carrier main frame whose position is adjustable up and down relative to the crawler drive unit, an anchor unit for securely holding the back of the wheelchair set in a wheelchair mounting position on the carrier main frame, and a holding and moving unit for holding the wheelchair on the ground in the front part of the crawler drive unit and for moving the wheelchair to the wheelchair mounting position that is in the rear part of the crawler drive unit as the wheelchair user tilts the wheelchair backward by shifting the body weight. This stair climbing wheelchair carrier allows even a wheelchair with a relatively short front to back length to be mounted in the rear part of the carrier for stable transport up and down stairs.

Abstract: A mobile robot having wheels which maintain contact forces against a surface even when the mobile robot meets an obstacle on the surface and a body of the mobile robot is forced up against the obstacle. The mobile robot easily surmounts the obstacle on the surface, without requiring any sensors, any specific controller, any specific traveling unit to surmount over the obstacle, or any specific drive unit to drive the specific traveling unit. The mobile robot includes the body, the wheels connected with the body which move arcuately relative to the body, and a wheel guide unit coupled at a first end to the body and at a second end to a hub of each of the wheels. The wheel guide unit is contracted when the body is spaced apart from the surface on which the robot moves. However, the wheel guide unit expands to allow the wheel to be in contact with the surface when the body comes into contact with the surface.

Abstract: A robot including a robot body, a plurality of wheels on the robot body for propelling the robot body, and an axle for each wheel. Each wheel is configured to alternately attach to an axle at or proximate the center of the wheel for high efficiency mobility on flat terrain and also configured to attach to an axle at a position offset from the center of the wheel for better mobility on rougher terrain.

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: Powered wheeled vehicle (1), capable of travelling both on level ground and over uneven surfaces, comprising at least one driving tread (BR11) as well as two pairs of front wheels (R61) and rear wheels (R21), of which at least one is a driving pair, wherein each wheel of the driving wheel pair is mounted on a swing arm, each arm of the swing arms (B21) of the rear wheels (R21) is secured to an actuator (V2) for placing said wheels in at least two positions, namely: a first lower position in which the ground-engaging surface of the wheels is below the ground-engaging surface of the tread so that said wheeled vehicle is moved by the wheels alone, and a second position in which the ground-engaging surface of the wheels remains in contact with the ground so that the vehicle is moved by a combination of the tread and said driving wheels.

Abstract: A platform wheeled apparatus that incorporates an intelligent wheel configuration for each wheel in which each wheel can dynamically change its radius to negotiate various obstacles. The intelligent wheel has a rotational hub and support disc 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 the spokes and control components.

Abstract: An extension/retraction cylinder stops or starts tilting the platform of the stair-climbing wheelchair carrier based on a detection signal from an inclination sensor provided in the crawler drive unit. When the crawler drive unit is detected to be not tilted, the tilting motion of the platform is stopped at an intermediate angle (e.g. 20°) of a maximum preset angle (e.g. 40°). When the crawler drive unit is detected to be tilted, the platform is tilted up to the maximum preset angle, and as soon as the crawler drive unit is detected not to be tilted after tilting, the platform is driven so as to decrease its inclination angle relative to the crawler drive unit. Thus, a comfortable and usable stair-climbing wheelchair carrier can be provided.

Abstract: An apparatus for climbing and descending stairs or other obstacles has three flexibly connected sections and a pair of crawler belt systems on opposite sides of the unit. Each of the crawler belt systems comprised of three crawler belts are driven by one of a pair of motors that directly drives a pinion that engages two of the crawler belts, one of which then drives the last crawler belt through another pinion. The stair-climbing apparatus also includes a mounting platform for coupling a carrier device such as a wheelchair or a box. In order to provide cushioning and stability for movements from a horizontal surface to an inclined surface and vice versa, shock absorbers are provided between the three sections. A linear actuator is also provided to provide stabilization as well as the ability to raise and lower both the stair-climbing crawler unit as well as the wheelchair, providing three modes of operation including manually wheel driven mode, motor wheel driven mode, and motor crawler driven mode.

Abstract: Provided is an anthropomorphic robot having two legs and which is capable of walking upright. Each of the two legs has a foot which comprises an upper plate on which an ankle joint is installed and which is similar to a foot of a human, and a lower plate attached to a lower surface of the upper plate and having a plurality of contact portions which contact a ground and which are separated from one another.

Abstract: A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Abstract: A transportation vehicle and methods for transporting persons, robots or cargo, and more particularly motorized vehicles, and methods for transporting over surfaces, including surfaces such as floors, roads, paths and sidewalks, and surfaces having obstacles or inclined surfaces and for enabling the ascending or descending of stairs without tilting while supporting a user or a load on a frame. The vehicle uses horizontal extending and retracting rods and vertical extending and retracting rods to pass over an obstacle or ascend or descend stairs. The horizontal extending and retracting rods are used as mechanisms to move the first set of ground contacting modules located to the fore of the vehicle or the last set of ground contacting modules located to the aft of the vehicle in a fore-aft plane to pass over an obstacle or to position the first set or last set of ground contacting modules upon a stair to be used for ascending and descending stairs.

Abstract: The invention provides a mobile carriage which is adapted to shift the center of gravity efficiently by utilizing the weight of wheel rotating means, power source means and control means to thereby increase the weight of a weight portion and reduce the increase in the weight of the entire carriage, the carriage comprising a base frame, a front wheel and a rear wheel which are disposed under the base frame, wheel rotating means coupled to the front wheel and the rear wheel for rotatingly driving the wheels, power source means for the wheel rotating means, center-of-gravity shifting means having a weight portion disposed above the base frame and a mechanism for moving the weight portion relative to the base frame to shift the position of the center of gravity of the base frame by moving the weight portion by the moving mechanism, and control means for controlling the wheel rotating means and the moving mechanism, the carriage being characterized in that at least one of the wheel rotating means, the power source

Abstract: An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle ? increases until the knee bending angle ? reaches a predetermined angle, and so that, once the knee bending angle ? exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.

Abstract: A hand truck for climbing stairs includes a frame having handles proximate a first end and at least two wheels proximate a second end. A stair climbing mechanism is engaged with the frame proximate the second end. The stair climbing mechanism has a motor and an output shaft having two ends drivingly connected thereto. At least two rotatable endless loop drive elements, generally parallel with respect to each other, are drivingly connected to the output shaft, one drive element at each end thereof. Each drive element includes at least one abutment member engaged with and extending outwardly therefrom. The motor drives the drive element to cause rotation of the abutment members, which interact with the stairs to lift the hand truck up the stairs.

Abstract: In a legged mobile robot (10) having a motor (42) that rotates the ankle joint (26R (26L)) about a right-and-left axis of the robot (26RY (26LY)) and a speed reducer (58) that reduces speed of an output of the motor, wherein the motor is disposed at a same position as the knee joint (22R (22L)) or at the thigh link (16R (16L)) such that the speed reducer is disposed at the shank link. With this, it becomes possible to reduce the weight of the distal end of the leg (12R (12L)) can be reduced, whereby enabling to reduce the inertial force generated in the leg during movement or locomotion of the robot.

Abstract: A self-leveling and balancing vehicle composed of a base and a moving and driving mechanism installed on the base, the mechanism having two longitudinal moving seats installed on the guiding rails fixed on the base, a connecting frame extending to and connecting the two moving seats, and two sector gears installed on the two moving seats. A driving motor and a sensor are installed on the connecting frame, two level driving gears installed on two ends of the driving shaft and engaged with the two sector gears, a balance gear box installed on the driving shaft and having an output shaft extending to the connecting frame, and two driven gears installed on two ends of the output shaft and engaged with the racks fixed on the base.

Abstract: A rugged terrain robot (RTR) apparatus can function as a reconnaissance robot to optimize safety of search or rescue personnel. Remote control places the RTR in either a rolling mode or in a stair-climbing mode. Remote feedback is provided by an on-board RTR camera and microphone. The RTR consists of two clamshell sections and a tail boom section. The RTR uses polymorphic locomotion of the clamshells for efficient maneuverability in traversing rugged terrain when in a “rolling” mode and is switched remotely into a stair-climbing mode (or extreme terrain) using end-over-end clamshell motion with a tail boom assist to climb stairways. The RTR can carry various communication devices, sensors and payloads for use by police, firemen, soldiers, rescue or other applications to optimize safety when direct entry by a human may not desirable until an area is reconnoitered. The RTR is remote controllable and easily transported to a reconnaissance area.

Abstract: A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. The invention makes it possible for the robot to independently, reliably, and smoothly get up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.

Abstract: A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Abstract: A stair-climbing hand truck comprising two casters held in a chassis and a supporting foot constituted by a two-arm lever having a lower support end and an upper end, a supporting foot guide connected to and guiding the upper end of the two-arm lever, a connecting rod having one end linked to the two-arm lever between the lower support end and the upper end, and an end opposite to the one end guided in a connecting rod guide extending transversely to the supporting foot guide, and a crank mechanism connected to the connecting rod.

Abstract: Disclosed is a wheel chair capable of going over an obstacle or ascending or descending a stair. The wheel chair comprises a wheel frame; an actuator coupled to the wheel frame; a power generating unit coupled to the actuator; a first transmission having a sun gear fixed to the power generating unit, a plurality of planet gears meshed with the sun gear, a ring gear meshed with the respective planet gears, and carriers coupled to the respective planet gears; a second transmission having a driving shaft meshed with the ring gear, a key frame rotatably installed on the driving shaft, and a casing fixed to the key frame; a plurality of front wheels each coupled to the driving shaft; a follower drivingly coupled to the driving shaft and having a follower shaft; and a rear wheel fixed to the follower shaft.

Abstract: A powered wheel assembly, and method and ground-engaging vehicle (e.g., a robotic vehicle) using the same, are provided. The vehicle incorporates at least one of the wheel assemblies on its chassis body. In addition to its ability to propel the vehicle across a surface, the wheel assembly is reconfigurable between a retracted configuration, wherein the wheel assembly has a first rolling diameter, and an expanded configuration, wherein the wheel assembly has a second rolling diameter greater than the first rolling diameter. A drive motor assembly may both rotate the wheel assembly, e.g., propel the vehicle across a surface, and selectively actuate the wheel assembly from the first rolling diameter to the second rolling diameter, or to any intermediate rolling diameter.

Abstract: A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Methods of controlling the transporter are described that allow the dynamic behavior of the transporter to more closely match preferences of a rider. These methods include providing preferential responsiveness to change in pitch angles and pitch rates.

Abstract: A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.