Abstract: The Reconfigurable Wheel-Track (RWT) is a novel mechanism that allows a wheel to transform into a track, and vice-versa. The wheel permits a vehicle to travel quickly over smooth and semi-rough terrain, then, on-the-fly, transform rapidly into a powered track for crossing extreme terrain. The reconfigurable wheel-track consists of several main components: an outer tire/tread, drive mechanisms for the wheel and track, support mechanisms for the outer tread when in either wheel mode or track mode, and a reconfiguration mechanism that facilitates the transformation from a wheel to a track and vice-versa. The reconfigurable wheel-track includes sensing, actuation, and controls to facilitate efficient and effective transition from wheel to track and vice-versa, and securely maintain each shape.

Abstract: A drone is used to map difficult transition spaces within buildings such as staircases between different levels of a multi-level building. The mapping technique used may vary based on the type of building space. For instance, for linear staircases, an orthogonal trajectory path or a smooth trajectory path may be used to map the transition space. The orthogonal trajectory path and the smooth trajectory path may be derived, at least in part, on initial and terminating points provided by a user. For circular staircases, a user may move the drone from the initial point to the terminating point, and the drone may determine a trajectory path based on the user's movement of the drone from the initial point to the terminating point.

Abstract: An example robotic chassis may include a frame including a first side member and a second side member connected by a transverse member near respective first ends of first side member and the second side member. The robotic chassis may also include a rigid case having a mounting point for a tablet computer. The rigid case may be rotatably coupled between the side members near respective second ends of the side members. The robotic chassis may further include a first arm and a second arm having respective distal ends and respective proximal ends. Respective proximal ends of the first arm and the second arm may be rotatably coupled to the frame near opposite respective first ends of the first side member and the second side member. In addition, the robotic chassis may include a plurality of wheels rotatably coupled to the frame.

Abstract: An agricultural tractor includes a pair of track assemblies including rubber treads with track bars, a front wheel assembly and a controller. The track assemblies are interconnected by respective front and rear axles extending substantially perpendicular to a direction of travel. The controller automatically controls a load imposed on the front wheel assembly in order to control the load imposed at the front axle of the track assemblies to minimize rubber tread wear.

Abstract: Embodiments of the present invention are directed to methods of autonomously self-righting a maneuverable robot. In one embodiment, an autonomous method for self-righting a maneuverable robot to affect recovery from an overturned state to its nominal upright configuration may include: defining a convex hull and center of mass of each link of the robot; determining the convex hull and overall robot center of mass for each joint configuration of the robot; analyzing each convex hull face to determine its stability or instability; grouping continuously stable orientations of the robot and joint configurations together defining nodes and transitions there between; assigning a cost to transitions between nodes; computing an overall cost for each potential set of transition costs resulting in achievement of the goal; and determining a sequence of one or more actions to self-right the robot such that the sequence of actions minimizes the overall cost of self-righting the robot.

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

Abstract: The invention relates to a self-propelled, wheeled vehicle that may be converted into a multi-track self-propelled vehicle using one or more track assemblies. Each track assembly includes a carriage with a main frame that support forward and rearward idler wheels and a plurality of centrally located, inner bogey wheels, and an outrigger beam that supports a plurality of centrally located, outer bogey wheels. One of the idler wheels is movably connected to the main frame and is movable by an actuator. The carriage is removably connected to a spindle of a vehicle by an attachment assembly. The attachment assembly includes a first or lower section and a second or upper section that generally encircle a portion of the spindle housing, and which are connected thereto by a plurality of fastening elements. A sprocket is operatively connected to a wheel hub of the spindle either directly or indirectly by way of a spacer element.

Abstract: A tractor configuration includes a mainframe structure, a control station having a means of controlling the tractor, an undercarriage system having one left side and one right side track assembly, a wheel mechanism containing one or more wheels located forward of the track assemblies, a power train for forcing both track assemblies to travel at the same or different speeds, a controller responsible for exerting force to transfer vertical load back and forth between the front portion of the track assemblies and the wheel mechanism and controlling the amount of weight carried by the wheel mechanism. The controller causes or allows the wheel or wheels of the wheel mechanism to follow the tractor's curved path caused by track speed difference.

Abstract: A motorized chain roller includes a frame, a roller chain assembly movably disposed within the frame, a first sprocket that engages the roller chain assembly to apply a transmission force to the roller chain assembly, at least one motor coupled to the frame and configured to transmit a rotational force to the first sprocket, and a load-bearing member coupled to and located within the frame. The roller chain assembly includes a plurality of interconnected cylindrical rolls arranged in a continuous series. Each of the cylindrical rolls has an axis or rotation. The roller chain assembly engages the load-bearing member to cause movement between the roller chain assembly and the load-bearing member perpendicular to the axes of rotation.

Abstract: The invention relates to a self-propelled, wheeled irrigation vehicles (10) that may be converted into a multi-track self-propelled irrigation vehicle (60) using one or more track assemblies (62). Each track assembly (62) includes a carriage (70) with frames (92, 94) that support a plurality of pairs of idler wheels (74, 76), and pairs of bogey wheels (80, 82, 84). A portion of one of the frames (94) is telescopically received within a portion of the other frame (92), so that the frames (92, 94) may move relative to each other in a linear fashion. A tensioning apparatus (212) is connected to the frames (92, 94) so that the frames are adjustable relative to each other. Each carriage (70) also includes a hub support frame (90) that is connected to one of the frames (92) in an offset manner. The hub support frame (90) includes an aperture (132) that rotatably receives a spindle (262) of an adaptor (258).

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: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.

Abstract: In one example, mobile industrial equipment for coupling to a truck for on highway transportation is provided. The mobile industrial equipment includes a frame to connect to the truck, a plurality of wheels connected to the frame, and a track assembly connected to the frame. In another example a method for using mobile equipment is provided. The method includes transporting mobile industrial equipment over the highway with a plurality of wheels connected to a frame of the mobile industrial equipment. The frame of the mobile industrial equipment is separated from the truck. The mobile industrial equipment is moved while separated from the truck using a track connected to the frame of the mobile industrial equipment.

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: A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine capable of negotiating irregular surfaces. The compliant suspension apparatus is configured to negotiate irregularities in a climbing-surface without its tracks losing full surface contact and adhesion. It does this by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion to avoid exceeding the allowable force in any adhering traction member and thus significantly improve the performance of the climbing machine.

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 invention relates to a self-propelled, wheeled vehicle that may be converted into a multi-track self-propelled vehicle using one or more track assemblies. Each track assembly includes a carriage with a main frame that support forward and rearward idler wheels and a plurality of centrally located, inner bogey wheels, and an outrigger beam that supports a plurality of centrally located, outer bogey wheels. One of the idler wheels is movably connected to the main frame and is movable by an actuator. The carriage is removably connected to a spindle of a vehicle by an attachment assembly. The attachment assembly includes a first or lower section and a second or upper section that generally encircle a portion of the spindle housing, and which are connected thereto by a plurality of fastening elements. A sprocket is operatively connected to a wheel hub of the spindle either directly or indirectly by way of a spacer element.

Abstract: A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

Abstract: A wheelchair has two central wheels that can be separately driven by a motor. In order to allow the wheelchair to turn around in narrow spaces, the central wheels can be driven in opposite directions of rotation. When the wheelchair is turned around, the front wheels and rear wheels do not constitute a hindrance because they are kept at a distance from the ground by the swiveling wheel. All three wheels are coupled together on each side by a chain. When the front wheels run against an obstacle, the wheelchair climbs over the obstacle with the driven front wheels. This causes the fork of the swiveling wheel to swivel about the rotational axis in the direction of arrow, against the force of a spring, bringing the rear wheels in contact with the ground and also driving the wheelchair's rear wheels. This all-wheel drive allows the wheelchair to overcome relatively high obstacles both forwards and backwards, even when driving slowly and without losing its maneuverability.

Abstract: An all-terrain vehicle having a unique suspension system for enabling handicapped individuals or invalids to easily access the vehicle and be self-transportable over ground or an ice surface.

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: This invention relates to a traction assembly for a vehicle which uses an endless traction band and a plurality of wheels for propulsion. More particularly, the traction assembly comprises a sprocket wheel which has a different size and number of sprocket teeth depending on whether the traction kit replaces the front wheels or the rear wheels of the vehicle. The sprocket wheel of the traction kit can also be configured such that its sprocket teeth are laterally offset. The traction kit can also comprise an anti-torque system that prevent physical contact between the traction kit and the vehicle and that can bias the position of the traction kit in order to improve the steering performance. Finally, the traction assembly can comprise a pivotable extension which lengthens the traction assembly and improves its traction capabilities.

Abstract: The mobile robot includes a chassis, a pair of drive system, a manipulator arm with a turret. The pair of drive systems is operably connected to opposed sides of the chassis. The turret is rotationally attached to the platform. The first link of the manipulator arm is attached to the turret at a first joint. The manipulator arm has at least a first link, and the first link is adapted to function as a traction device.

Abstract: A device for facilitating the movement of a vehicle across ground comprises a track able to move around a board. The device includes a track for contacting ground that is mounted on a board. Brackets are provided for attaching the board to a vehicle. The track is movable in a direction independent of the direction of movement of the vehicle in at least the reverse direction relative to the vehicle's direction of movement. That track is able to move around the board by means of cylinders arranged in the form of a belt extending around the board between the board and the track. The device can be used to facilitate movement of off-road vehicles across obstacles. It can also be used to provide snow-free sledges and skis. It is also envisaged that the device may be incorporated into a trolley, which can be used on uneven surfaces.

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 robotic system adapted to deploy from a police vehicle for inspecting a suspect vehicle has a robot unit and a carrier unit. The robot unit includes a robot base having a drive system responsive to a control unit having a robot transceiver, and a camera operably mounted on robot unit for inspecting the suspect vehicle. A primary display adapted to be operably positioned within the police vehicle functions for displaying the images from the camera. A remote control unit, also adapted to be operably positioned within the police vehicle, enables the user to operably control the control unit of the robot unit. The carrier unit includes a carrier housing that pivots between a raised position for carrying the robot unit, and a lowered position for deploying the robot unit.

Abstract: An amphibious all terrain vehicle having a body and at least three wheel and axle assemblies on each side and a pair of ground engaging track assemblies which are mounted on tires on either side of the vehicle. Each of the wheel and axle assemblies include an axle shaft supported by and positioned transverse to the vehicle body so that the wheel and axle assemblies form a front assembly, a rear assembly and at least one middle assembly. Each of the axle shafts has an axle extension with the axle extensions of the front and rear wheel and axle assemblies being fixed extensions and the axle extensions on at least the middle assemblies are idler axle extensions to permit the wheels on such assemblies to move in a free wheeling mode relative to their respective axle shafts.

Abstract: An endless belt system for a vehicle having a negative trail steering geometry is provided. The endless belt system replaces the wheels that steer a vehicle, particularly an all-terrain vehicle, to provide increased steerability and floatation over soft terrain.

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: An endless track assembly that mounts to a wheeled vehicle. The assembly provides 1) a track suspension having fixed or adjustable, independently biased sets of idler wheels to vary the track contour without affecting track tension, 2) an eccentric bearing housing at a drive sprocket controls track tension, 3) a contoured peripheral edge at the drive sprocket prevents ice and mud buildup, 4) rubber-coated, plastic idler wheels facilitate track movement, 5) a multi-vehicle compatible adapter mounting plate accommodates a variety of vehicles, 6) a rotation limited torsion coupler and/or rotation limiting coupler arms prevent track contact with the vehicle, 7) a locking steering arm coupler prevents loss of steering control, 8) shaped track lugs and channels clear and direct debris away from the track suspension and drive assembly, and 9) a center, spring biased coupling suspension stabilizes and enhances the contour following and load handling capabilities in the center region of the track.

Abstract: A self propelled trailer for boats or other loads in which the trailer includes two tracked propulsion units. The propulsion units raise to a position adjacent the frame to allow the trailer to be towed by a towing vehicle, and lower to a position in contact with a road surface to allow the operator to move the trailer and its load without being attached to the towing vehicle. In the case of a load that is a boat, the self propelled trailer and the boat could be driven without an attached vehicle, down a boat loading ramp to launch the boat, and be driven with the boat up the boat loading ramp to rendezvous with a towing vehicle in a parking lot. The propulsion units would then be raised into a position adjacent to the trailer frame and the trailer would be towed on the highway.

Abstract: A motor vehicle with an additional crawler undercarriage includes assemblies to reduce the load pressure transferred to the ground and to improve off-road performance. The assemblies include components used in conventional mass-produced vehicles, with a chassis (1. 1), a body with optional cargo area (1.2), undercarriage, such as axles (1.3) with steered (1.4) and/or unsteered wheels (1.5), tires (1.6), wheel suspension, spring support, steering and brakes, and an engine-transmission unit (1.7) with drive components. An additional crawler undercarriage (2) can be mounted and/or retrofitted on the chassis (1.1) between the axles (1.3) and used for traction in any terrain. The additional crawler undercarriage (2) includes an undercarriage (2.1) with drive wheels (2.2) and carrying wheels (2.3) and revolving crawler chains/crawlers (2.4) and associated elements, first means (3) for providing an optionally extendable and retractable connection of the undercarriage (2.1) with the chassis (1.

Abstract: This invention relates to a mower and a tracked implement that convert from one to the other by coupling a mower unit or a tracked unit to a common drive unit. The drive unit is thus used in both products to provide cost savings in the purchase of the equipment. In the tracked unit, a cab for enclosing the operator's station is part of the tracked unit and gets mounted to the drive unit when the tracked unit is coupled to the drive unit. A pair of idlers rotate on pivot axes that are fixed relative to a pivotal idler support that carries the idlers. The pivot point for the idler support is chosen to prevent track elongation when the tracked unit climbs obstructions such as a curb. In the mower unit, a relatively heavy cutting deck is used and spring biased weight transfer arms transfer some of the deck weight to the mower frame.

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: A self propelled trailer for boats or other loads in which the trailer includes two tracked propulsion units. The propulsion units raise to a position adjacent the frame to allow the trailer to be towed by a towing vehicle, and lower to a position in contact with a road surface to allow the operator to move the trailer and its load without being attached to the towing vehicle. In the case of a load that is a boat, the self propelled trailer and the boat could be driven without an attached vehicle, down a boat loading ramp to launch the boat, and be driven with the boat up the boat loading ramp to rendezvous with a towing vehicle in a parking lot. The propulsion units would then be raised into a position adjacent to the trailer frame and the trailer would be towed on the highway.

Abstract: An all-terrain vehicle is supported and driven by endless track units. Each track unit includes a drive belt with rows of interior drive lugs driven by cogs on multiple sprocket wheels of a common drive wheel assembly having an integrated, one-piece drum and hub. Multiple guide wheel assemblies engaging the lower run of the drive belt distribute the vehicle load across substantially the full width of the belt. Each guide wheel assembly includes a pair of guide wheel units mounted on opposite end portions of a common spindle and on opposite sides of a carrier beam of the track unit. Each guide wheel unit has a wide belt-engaging surface extending to, or close to, an edge portion of the belt and interrupted by an annular groove permitting passage of a row of the belt drive lugs while maintaining alignment of the belt and drive wheel assembly.

Abstract: An all-terrain vehicle is supported and driven by endless track units. Each track unit includes a drive belt with rows of interior drive lugs driven by cogs on multiple sprocket wheels of a common drive wheel assembly having an integrated, one-piece drum and hub. Multiple guide wheel assemblies engaging the lower run of the drive belt distribute the vehicle load across substantially the full width of the belt. Each guide wheel assembly includes a pair of guide wheel units mounted on opposite end portions of a common spindle and on opposite sides of a carrier beam of the track unit. Each guide wheel unit has a wide belt-engaging surface extending to, or close to, an edge portion of the belt and interrupted by an annular groove permitting passage of a row of the belt drive lugs while maintaining alignment of the belt and drive wheel assembly.

Abstract: A vehicle for use on a battlefield, having a hull with at least one endless track unit mounted underneath, and with a plurality of selectively vertically moveable wheels. The endless track unit may cover substantially all of the bottom side of the vehicle and may wrap upward to cover a portion of the front of the vehicle. The vehicle may be operated with only the wheels, the wheels and the endless track unit in combination, or only the endless track unit in contact with the ground. The vehicle has a height variable suspension element, which may be a hydro-pneumatic spring, coupled to each wheel. The suspension elements are connected with a power unit and a control unit to allow selective controllability of suspension height, and corresponding extension or retraction of the wheels. The wheels may also be provided with a resilient suspension mechanism that is either separate or formed by the height variable suspension elements.

Abstract: A convertible sled can be dragged silently into the woods by the hunter. Once the hunter has bagged his game, he converts the sled into a track-driven and battery-powered cart. The sled portion is at the bottommost part of the assembly on the way into the woods. In this “sledding” mode, the battery pack, the tracks and the frame are situated above the sled. In the “carting” or “track-driving” mode, the sled is detached from the assembly and is remounted above the frame, tracks and battery pack. In this mode, the sled forms a platform upon which the game can be secured. In the carting mode, the hunter activates the track-driven cart to assist with extraction of the game. Activation of the track-driven cart is by means of a handle which extends to the front of the assembly. An alternative embodiment includes a pair of removable wheels mounted to a pair of adjustable wheel supports, which wheels may be used to roll the convertible sled as well.