Abstract: A vehicle includes a wheel to contact a surface having a reference surface plane in operation of the vehicle; a chassis; an axle housing having an axis which is normal to the reference surface plane; and an axle. The axle extends from the axle housing, to couple the wheel to the axle housing and to support rotation of the wheel relative to the axle housing to support motion of the vehicle across the surface in operation of the vehicle. A suspension system couples the wheel to the chassis and includes a linkage assembly having a first end pivotably coupled to the chassis and a second end pivotably coupled to the axle housing. The first end of the linkage assembly is spaced apart laterally from the second end of the linkage assembly along a longitudinal axis of the linkage assembly. The suspension system is configured to maintain the axis of the axle housing at an angle normal to the reference surface plane in response to an angular displacement between the chassis and the reference surface plane.

Abstract: A vision system for a mobile robot, the vision system including: a lens module; an illumination system including a plurality of light sources; and a lens module holder. The lens module holder is positioned around the lens module and includes a reflective surface for reflecting light emitted from the illumination system away from the lens module.