Abstract: The present invention relates to a method of a robot (30) responding to a transition (40) between height levels, the method comprising a robot (30) travelling, sensing information of the surroundings of the robot (30) and generating a three dimensional data set corresponding to a heightmap of the surroundings of the robot (30) based on the information, detecting a transition (40) between different height levels (10, 20) in the three dimensional data set, categorizing the transition (40) between the different height levels (10, 20) by means of at least one characteristic, the robot (30) performing a response action, which response action depends on the categorization of the transition (40). The present invention also relates to a corresponding system.

Abstract: A variable wheel drive electric vehicle comprises a chassis; a first axle disposed on the chassis comprising: a pair of opposed first axle ends; a pair of first axle hubs attached to the first ends, a pair of motive wheels configured for rotatable disposition on the first hubs, and a pair of electric hub motors each comprising a stator and a rotor, the rotors configured for reversible motive rotation of the motive wheels by and about the stators; a second axle disposed on the chassis comprising: a pair of opposed second axle ends; a pair of second axle hubs attached to the second ends; a pair of non-motive wheels configured for rotatable disposition on the second hubs; and a pair of hub motor blanks each comprising a stator blank and rotor blank, the rotor blanks configured for reversible non-motive rotation of the non-motive wheels by and about the stator blanks.

Abstract: The hubless wheel system includes an inner ring assembly having a main stationary ring and a plurality of inner ring mounting brackets positioned within the main stationary ring, a first bearing and a second bearing mounted onto the main stationary ring, a side plate positioned in communicating relation with the second bearing, a middle ring assembly mounted onto the bearings of the inner ring assembly, and an outer ring mounted on the middle ring assembly. The middle ring assembly has a middle ring and a brake disc positioned in communicating relation with the middle ring. The outer ring has an inner portion and a plurality of outer ring mounting brackets positioned on the inner portion of the outer ring, and a bracket assembly positioned within the main stationary ring. The hubless wheel system can include a drive assembly, a step-lock assembly, a side wheel assembly, and a suspension assembly.

Abstract: An amphibian operable in land and marine modes includes a hull, having a discontinuity, and a retractable wheel or track drive assembly at least partially located in the discontinuity. A wheel or track drive of the at least one retractable wheel or track drive assembly is retracted above a lowest point of the hull when operating in marine mode, and the wheel or track drive is protracted below the lowest point when operating in land mode. The hull is a planing V hull having a forward bow section defining a frontal bow surface/area across a beam of the hull. The discontinuity is provided in the forward bow section, and the wheel or track drive of the retractable wheel or track drive assembly is located ahead of and in front of at least a portion of the frontal bow area when protracted.

Abstract: A method for controlling an active suspension system of a vehicle during a curb parking operation, so as to position a portion of the vehicle on a street and a portion of the vehicle on a curb. The method includes steps of activating a curb parking function of the active suspension system, acquiring inputs pertinent to the curb parking operation, and determining, by a controller, if a curb parking operation is feasible for the vehicle. If a curb parking operation is deemed infeasible, an operator of the vehicle is notified that the curb parking operation is infeasible. If a curb parking operation is deemed feasible, actuatable elements of the active suspension system are controlled to facilitate curb parking.

Abstract: A dump truck including a suspension system and a steering system. The suspension system includes a frame and a plurality of hydraulic suspensions, and every two of the hydraulic suspensions are aligned on one axle. The suspension system includes at least two axles. The frame includes a middle box beam and spars protruding from two sides of the middle box beam. The hydraulic suspensions include a pivotal bearing, rotating frame, swing arm, hanging cylinder, oscillating axle, and wheels. The upper end of the rotating frame is arranged in the lower surface of the spar of the frame via the pivotal bearing. The upper end of the rotating frame is non-rigidly connected to the swing arm. A cylindrical pin is disposed at the front end of the swing arm. The cylindrical pin is sleeved in a pinhole of the oscillating axle.

Abstract: Methods and apparatus are provided for controlling a power take-off (PTO) of an engine equipped vehicle. Transceivers in a portable wireless remote control device (WRCD) and an in-vehicle control system (IVCS) wirelessly communicate (a) user generated PTO action requests to the vehicle, and (b) PTO and vehicle status information to the WRCD. A PTO control module (PTOCM) in the IVCS translates the wirelessly received user action requests into engine and PTO operating or action commands, monitors the engine and PTO status and has the IVCS transceiver send the status information back to the WRCD where it can be presented to the user on a display. In a preferred embodiment, maximum use is made of components already existing in the vehicle.

Abstract: Here invented are efficient road vehicles having special aerodynamic shapes, with stabilizing provisions that enable aerodynamic efficiency. It is a vehicle that is configured to include a carriage part that encloses a driver and passenger riding in tandem. This car width is for persons seated in single file, enabling a narrow width that makes a body shaped like an airship practical, where that shape is characterized by a very low drag coefficient in free flow conditions. This body is elevated on struts above a wheel system to enable such free flow aerodynamic conditions, thus, the drag coefficient of the airship is made applicable to this road vehicle. The wheel system includes wheels on each side of the vehicle that are arranged in horizontal columns, to which the struts are attached. The horizontal columns act as individual aerodynamic entities that function independently of the carriage aerodynamic operation.

Abstract: A mobile base for a camera crane includes a front left drive motor assembly, a front right drive motor assembly, a rear left drive motor assembly, and a rear right drive motor assembly, attached to a chassis. Each drive motor assembly may include an electric motor linked to an axle via a gear reduction and at least one wheel on the axle. A middle left drive motor assembly and a middle right drive motor assembly may each also include an electric motor linked to an axle via a gear reduction, at least one wheel on the axle, and a spring suspension assembly attached to the chassis and supporting the axle. An electrical power supply on the chassis may be linked to each of the electric motors.

Abstract: An omni-directional wheel assembly for a vehicle that includes a wheel, at least one lower suspension link and an upper attachment joint. Both the at least one lower suspension link and the upper attachment joint are attachable to the vehicle. The wheel is able to rotate at 360°, to steer the vehicle, around a pivot line positioned by the at least one lower suspension link and the upper attachment joint once attached to the vehicle. A projection of the pivot line onto a vertical projection plane comprises a vertical axis passing through a contact point between the wheel and ground defining a caster angle with the vertical axis, where whatever the orientation of the projection plane, the omni-directional wheel assembly includes an adjustment means able to adjust the caster angle within a predetermined range.

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: A hybrid vehicle comprises an engine, a first traction element, a second traction element, a first electric drive system, and a second electric drive system. The engine is coupled operatively to the first traction element via the first electric drive system and to the second traction element via the second electric drive system.

Abstract: A mower having a cutting deck for cutting grass has four drive wheels arranged in a square or rectangular configuration on the mower's frame. Four wheel drive and four wheel steering are employed with the drive wheels. The four wheel drive is provided by a hydraulic drive system that employs a pair of identical serial circuits which have their own pumps with each pump serially sending its output through a rear drive motor and a front drive motor that are catty-corner to one another on the frame, i.e. are on opposite sides of the motor. Various flow crossover paths and flow recirculation paths are provided in the serial circuits to ensure the drive motors receive adequate flow in maximum turns of the mower. The flow recirculation paths around a pair of drive motors at one end of the frame are shut off during reverse and during braking so that all drive motors retain hydraulic braking in these conditions.

Abstract: A first chassis and second chassis hingedly connects to the first chassis, wherein each of the first and second chassis includes a plurality of wheels which are operably connected to a hydraulic motor. The hydraulic motor operably connects to an engine which is operably connected to the first chassis. A transmission pump operably interconnects the hydraulic motor and the engine and a flow divider operably interconnects the transmission pump and the hydraulic motor to regulate hydraulic flow to the hydraulic motor.

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: A camera crane has a telescoping arm on a mobile base. The mobile base has a drive motor assembly at each corner of a chassis. The drive motor assemblies may have an electric motor linked to an axle via gearing, and two or more wheels attached to the axle. The wheels can be set to free wheel, so that the mobile base may be pushed or towed, without back driving the electric motor. The wheels may also be linked to the axle, so that the electric motor can provide torque to each of the wheels. The electric motors may be separately controlled to propel and steer the mobile base.

Abstract: A first chassis and second chassis hingedly connects to the first chassis, wherein each of the first and second chassis includes a plurality of wheels which are operably connected to a hydraulic motor. The hydraulic motor operably connects to an engine which is operably connected to the first chassis. A transmission pump operably interconnects the hydraulic motor and the engine and a flow divider operably interconnects the transmission pump and the hydraulic motor to regulate hydraulic flow to the hydraulic motor.

Abstract: A mobile base for a camera crane includes a front left drive motor assembly, a front right drive motor assembly, a rear left drive motor assembly, and a rear right drive motor assembly, attached to a chassis. Each drive motor assembly may include an electric motor linked to an axle via a gear reduction and at least one wheel on the axle. A middle left drive motor assembly and a middle right drive motor assembly may each also include an electric motor linked to an axle via a gear reduction, at least one wheel on the axle, and a spring suspension assembly attached to the chassis and supporting the axle. An electrical power supply on the chassis may be linked to each of the electric motors.

Abstract: An electric-powered scooter with independent ground engaging mechanisms is equipped with two powered wheels pivoted on a pair of rotatable racks respectively, and each of the rotatable rack is pivoted to a first shaft protruded from the vehicle frame of the electric-powered scooter. When one of the ground engaging wheels is bumped against an obstacle and bouncing upward would cause the rotatable racks to rotate and lowering the respective powered wheels immediately, by this way to enhance the traction of powered wheels over uneven terrain.

Abstract: A tandem drive arrangement includes one or more independently driven wheels (118) that are arranged in a tandem configuration along a beam (120). The beam (120) is rotatably connected to a frame (102) of a machine (100). The tandem drive arrangement further includes an actuator (206) operating to selectively impart a rotating moment to the beam (102). The rotating moment tends to rotate the beam (120) in one direction and counteracts a torque imbalance resulting from operation of motors (128) rotating one or more independently driven wheels (118) connected to the beam (120).

Abstract: Here is invented an efficient road vehicles having special aerodynamic shapes, with stabilizing devices that enable aerodynamic efficiency. It is an articulated vehicle that is tall and narrow. It includes a carriage part that encloses a driver and passenger riding in tandem. This car is only wide enough for persons seated in single file, so it has very low projected frontal area compared with typical cars. Further, the narrow width makes a body shaped like an airship practical, where that shape is characterized by a very low drag coefficient in free flow conditions. The carriage is elevated on struts to enable such free flow aerodynamic conditions, thus the drag coefficient of the airship is made applicable to this road vehicle. Because this car has both low frontal area and low drag coefficient it will require minimal energy for high speed operation.

Abstract: A low surface impact, skid steered, all terrain vehicle is disclosed which has a rectangular frame from which sets of tandem mounted, independently movable control arms are suspended. A hydraulic motor driven wheel axle is mounted on a lower end of each control arm with at least one pneumatic wheel mounted upon each wheel axle. Separate hydraulic control circuits having separate drive pumps drive the hydraulic motors on each side of the vehicle. Each of these hydraulic control circuits is operable in either a series connected mode or a parallel connected mode.

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

Abstract: A differential steering type motorized vehicle is capable of directly steering a front wheel by the turning operation of handlebars, and performing on-the-spot turning around a central position of a vehicle body together with differential rotation type control of drive wheels, and comprises the front wheel as one wheel supported by a lower end of a handlebar shaft provided below the handlebars and located at a central position along the lateral axis, rear wheels as a pair of right and left omnidirectional wheels, a pair of drive wheels which are located between the front wheel and the rear wheels, and drive-controlled so as to perform the differential steering caused by differences in rotational direction and rotational speed between the rear wheels, a rotational position sensor for detecting the turn direction and the turn angle from the reference position of the handlebars to be turned in the right or left direction, and a motor drive wheel control means for controlling the rotational direction and the rota

Abstract: A wheel driving apparatus for a moving apparatus is provided. The wheel driving apparatus includes a wheel, a driving motor to generate a driving power to rotate the wheel, a gear box to transmit the rotational force of the driving motor to the wheel, and a guide shaft movable vertically with respect to the base member, wherein the wheel, the driving motor, the gear box, and the guide shaft are connected integrally with each other to move vertically with respect to the base member in unison.

Abstract: Here invented are efficient road vehicles having special aerodynamic shapes, with stabilizing devices that enable aerodynamic efficiency. An embodiment is a articulated vehicle that is tall and narrow. It includes a carriage part that encloses a driver and passenger riding in tandem. This car is only wide enough for persons seated in single file, so it has very low projected frontal area compared with typical cars. Further, the narrow width makes a body shaped like an airship practical, where that shape is characterized by a very low drag coefficient in free flow conditions. Since this body is elevated on struts to enable such free flow aerodynamic conditions, the drag coefficient of the airship is made applicable to this road vehicle. Because this car has both low frontal area and low drag coefficient it will require minimal energy for high speed operation.

Abstract: Presented is a heavy vehicle, such as a transport vehicle or a civil engineering vehicle, of a mass greater than 500 metric tons. The vehicle is fitted with tires of radial structure having a diameter greater than 3.5 meters and an axial width greater than 37 inches. The vehicle has a front steering axle provided with at least two tires and at least one rear axle provided with at least four tires for transmitting at least part of motive power. The rear axle has at least two trailing arms each associated with two tires.

Abstract: The present invention provides an electric-driven vehicle, which comprises a supporting platform and an upright tube, wherein the supporting platform has first and second ends and a longitudinal axis perpendicular to the first and second ends, the upright tube is fitted at the first end of the supporting platform and operatively connected with the supporting platform, a handle frame is provided on a top end of the upright tube. The electric-driven vehicle further includes two driving wheels operatively mounted at opposite sides of the first end of the supporting platform, at least one steering wheel operatively mounted on a bottom of the second end of the supporting platform, a driving means for the driving wheels, and a power supply means mounted on the bottom of the supporting platform and electrically connected with the driving means.

Abstract: A multi-combination vehicle or road-train consisting of a powered prime mover, at least one powered trailer and which may include a number of non-powered trailers. The powered trailer includes a cooling system separated from the engine to provide improved cooling and enabling the road-train to be used in confined areas, such as in underground mines. Preferably, the cooling system is located at the rear of the powered trailer. The engines of the prime mover and powered trailer(s) are preferably controlled either by manual controls in the truck cab.

Abstract: The invention relates to a chassis structure for a working machine moving on a terrain, the chassis structure comprising a pair of front wheels and a pair of rear wheels supporting the frame, and a controlled frame joint between the frame parts, when the frame is composed of two frame parts. The chassis structure further comprises a suspension controlled by actuators and arranged to move each wheel in a level transverse in relation to the frame. Each wheel is mounted rotatably and to turn by the actuators to the suspension, and each wheel is usually provided with a hub motor for drive transmission. The chassis structure can further comprise a pair of middle wheels for a second frame part. In a method related to the chassis structure the forest machine can also be turned in place.

Abstract: A vehicle utilize a cellular design to provide variously sized vehicles constructed from varying numbers of substantially identical cells. Each cell, fabricated from lightweight materials including composites, includes: compartment, floor section, sidewalls, roof, drive train, steering, brakes; and wheels coupled through axles and independent suspensions to the vehicle body, each suspension including a height adjuster, a flow-control shock absorber, and a rapid-response air spring for and exceptionally comfortable ride. The suspension system reduces structural requirements for the body. All-wheel steering lends the vehicle exceptionally high maneuverability. A hybrid power system combines an alternative fueled engine to power electricity generation and all-wheel electric drive with main energy storage in advanced battery technology. The cellular design and attendant weight reduction allow suspensions and drive trains to be substantially fabricated from light truck parts.

Abstract: A driving unit for use with a rolling vehicle is provided containing a first and second motor mechanically coupled to two wheels via a transmission unit which is pivotable about the steering axis of the driving unit and adapted to establish a driving relationship between the first motor and one wheel of the unit and for establishing a driving relationship between the second motor and a second wheel of the unit. The coupling between the first motor and second motor and the transmission unit allows the transmission unit to pivot about the steering axis without causing a corresponding pivotal movement of the platform on which the first motor and the second motor are fixedly mounted, while allowing the first motor and the second motor to transmit power to their respective wheels. Various transmission units for use in these driving units are provided as well as rolling vehicles containing such units.

Abstract: A wheel suspension assembly for a vehicle having wheels and a chassis, the vehicle suspension system comprising a suspension unit for at least one wheel, the suspension unit including a first pivot arm of which a wheel is mounted and a second pivot arm mounted on the chassis, a drive unit mounted to the chassis, and a transmission unit between the drive unit and the wheel, the transmission unit arranged to accommodate pivoting of the second pivot arm relative to the chassis during operation of the vehicle.

Abstract: A driving unit for use with a rolling vehicle is provided containing a first and second motor mechanically coupled to two wheels via a transmission unit which is pivotable about the steering axis of the driving unit and adapted to establish a driving relationship between the first motor and one wheel of the unit and for establishing a driving relationship between the second motor and a second wheel of the unit. The coupling between the first motor and second motor and the transmission unit allows the transmission unit to pivot about the steering axis without causing a corresponding pivotal movement of the platform on which the first motor and the second motor are fixedly mounted, while allowing the first motor and the second motor to transmit power to their respective wheels. Various transmission units for use in these driving units are provided as well as rolling vehicles containing such units.

Abstract: A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

Abstract: A central drive personal mobility vehicle is disclosed comprising a frame having a right and a left frame mounting located in a trailing frame portion of the frame with a seat being mounted to an intermediate portion of the frame. A right and a left leaf spring extend between a proximal end and a distal end. The proximal ends of the right and left leaf springs are secured to a right and a left drive wheel assembly supporting a left and a right drive wheel. The distal ends of the right and left leaf springs are secured to the right and left frame mounting for resiliently mounting the right and left drive wheel assemblies to the frame.