Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

Abstract: The present disclosure relates to a car type model comprising an inner structure formed of a metal, a chassis formed of a resin and a wheel axle formed of a metal. The chassis is attached to the inner structure, and the wheel axle is arranged between the chassis and the inner structure. The inner structure and the chassis are configured to keep the wheel axle in a position.

Abstract: Described herein is a method for producing a toy, in particular a toy car. According to a preferred embodiment, said method envisages implementing a process of injection moulding that envisages a first step of forming the base body (40) of the toy car, and, then, a second step of forming the wheels (60), which is carried out directly on the base body formed previously. The toy car obtained is characterized in that it presents a connection that cannot be separated between the wheels and the base body.

Abstract: A mount to couple a transmission to a vehicle body includes a first body with at least one first body connector, and a second body with at least one coupler connected to the first body and which includes a damping material arranged to damp vibrations between the first body and second body. A retainer is carried by the first body and has a portion that overlaps part of the second body to prevent separation of the second body from the first body in a first state of the retainer. The retainer is broken or removed from the first body in a second state to permit separation of the second body from the first body, and the retainer breaks or is removed from the first body under a force less than the force needed to break or remove the at least one first body connector from the vehicle body.

Abstract: A wheel for a toy car can include a cylindrical portion and a conical portion, where a first width of the cylindrical portion is narrower than a second width of the conical portion.

Abstract: A ladder transport device for use with a detachable ladder handle. The transport device has an axle and pair of wheels which are mounted on a body. The axle and wheels are rotatable and axially moveable relative to the body. The transport device body is securable to the detachable handle. The detachable handle is securable to the exterior side of a ladder near the end of the ladder. The user can then roll the ladder on the wheels by lifting and pulling on the opposite end of the ladder. Stability is improved by horizontally aligning the cross sectional center of gravity of the ladder between the wheels.

Abstract: An assembly-toy chassis building element for a toy vehicle has at least one side wall that is configured for being releasably interconnected with a particular wall of another building element of the toy vehicle. Each end wall of the chassis element includes at least one groove that is compatible with tongues in other building elements in a set of compatible toy building elements so that a compatible toy building element can be interconnected to the end walls of the chassis element. A wider toy vehicle can be assembled by side-to-side coupling of two chassis elements via an intermediate building element having compatible side walls. A longer toy vehicle can be assembled by end-to-end coupling of two chassis elements via an intermediate building element having compatible end walls.

Abstract: A toy vehicle system having interchanging wheels, tires and axles for altering ground clearance features a pair of anterior axle mount projections and a pair of posterior axle mount projections angularly located on a vehicle underside. Interchangeable anterior and posterior axle units are designed to position the toy vehicle at a ground clearance that proportionally resembles a full size vehicle ground clearance. The system features a first size plurality of wheels, a second size plurality of wheels, and a third size plurality of wheels, each having a tire located on an outer periphery thereon. The system features a plurality of fasteners for securing the anterior axle or the posterior axle. The system features a plurality of nuts located on wheel studs for securing a wheel on a hub. The system features a perpendicular wrench having four projections located thereon, radially projecting from a central hub.

Abstract: The custom motorcycle toys having interchangeable swing arms includes a series of toy motorcycles in which the rear end includes removable swing arms that can be exchanged with interchangeable rear tires so as to further customize the motorcycle. The front tire and rear tire can both rotate to enable movement of the toy motorcycle.

Abstract: A mobile toy which is propelled by a flywheel is described. The mobile toy includes a body member having a set of protrusions which extend beyond the body member. An axle extending through the flywheel is positioned in the set of protrusions, such that each protrusion operates as an axle cap. Alternatively, a set of axle caps are formed at the end of the axle. The flywheel is formed as a displaceable flywheel which is repositionable or removable from the body member. The flywheel may be adjusted within the mobile toy at multiple positions relative to the mobile toy for use of the mobile toy on multiple types of surfaces and for various play configurations. A set of detachably attachable extension elements attached with the axle caps alter the appearance as well as the play capabilities of the mobile toy.

Abstract: Disclosed is an automobile toy, including: a first chassis to support an axle of a front wheel; and a second chassis to support an axle of a rear wheel, wherein the first and second chassis are rotatably connected with each other by a rotating shaft that lies along a width direction of the automobile toy, and a spring for biasing the first and second chassis is arranged between the first and second chassis, so as to bias the front wheel and the rear wheel to an approaching direction to the ground.

Abstract: A toy vehicle includes a chassis, a right turning member that supports a right steerable road wheel and a left turning member that supports a left steerable road wheel. A rigid steering link extends across the chassis and has right and left ends that are operably connected to the right and left turning members. An actuator provides a pivoting motion on a horizontal axis extending longitudinally forward and rearward in the vehicle. The motion provided by the actuator moves the steering link side to side across the vehicle. The right and left road wheels are pivoted by the motion of the steering link. An adjustable trim mechanism includes a bias member that helps to maintain a neutral position of the steering link and a trim adjustment that modifies a position on the chassis at which the steering link and road wheels are maintained in the neutral position.

Abstract: An adjustable weight system and method for adjusting the center of gravity and front and rear axle weights of a model race car. The adjustable weight system includes a cylinder having screw threads that are configured to form complemental threads in a surface surrounding a bore of an object that the cylinder is placed within. The cylinder is configured to engage a tool for adjustably positioning the cylinder within the bore and forming the complemental threads. The methods for adjusting the center of gravity and front and rear axle weights each include selecting a desired center of gravity location, front axle weight, or rear axle weight, placing at least a front or rear wheel of the car on a scale, and moving an adjustable weight on the car's chassis until the desired and actual center of gravity, front axle weight, or rear axle weight are approximately equal.

Abstract: A toy automobile includes wheels, axles connecting the wheels, a holding plate, a control circuit, a sensor, and struts and drive trains corresponding to the wheels. Each strut includes a pivoting strut and a support strut pivoted to each other, one ends of the pivoting strut and the support strut are slidably mounted on the axles. The other end of the support strut slidably resist at the bottom surface of the holding plate. Each drive train is connected with another end of the pivoting strut. When the holding plate is tilted relative to a horizontal reference plane, the control circuit controls the drive trains to drive the pivoting struts at a lower end of the holding plate, the pivoting struts rotate and lift the support struts correspondingly, thus to lift the lower end and make the holding plate parallel to the horizontal reference plane.

Abstract: A toy vehicle includes a chassis, a right turning member that supports a right steerable road wheel and a left turning member that supports a left steerable road wheel. A rigid steering link extends across the chassis and has right and left ends that are operably connected to the right and left turning members. An actuator provides a pivoting motion on a horizontal axis extending longitudinally forward and rearward in the vehicle. The motion provided by the actuator moves the steering link side to side across the vehicle. The right and left road wheels are pivoted by the motion of the steering link. An adjustable trim mechanism includes a bias member that helps to maintain a neutral position of the steering link and a trim adjustment that modifies a position on the chassis at which the steering link and road wheels are maintained in the neutral position.

Abstract: A rocker arm for a model vehicle is provided, comprising a first portion and second portion each having an input and an output arm and each having an opening for receiving a pivot member about which the portions rotate. The first and second portions are secured for rotation together about a rotational axis through the respective openings and are spaced apart generally along the rotational axis. The rocker arm further comprises a suspension input coupling member that extends between the input arms of the first and second portions, where the input arms are spaced along the input coupling member, and a suspension output coupling member that extends between the outputs arms of the first and second portions, where the output arms are spaced along the output coupling member.

Abstract: The invention is directed to a toy comprised of a vehicle that is capable of generating electrical energy and a body that can be physically and electrically connected to and disconnected from the vehicle. In one embodiment, the body comprises a light and a capacitor that stores electrical energy produced by the generator when the body is connected to the vehicle and the vehicle is used to produced electrical energy. After separation of the body from the vehicle, the capacitor provides electrical energy to the light that allows a child to separately use the body as a torch or flashlight. In another embodiment, the vehicle includes a speaker and the body includes a memory device that stores a signal that can be played over the speaker when the body is connected to the vehicle.

Abstract: A vehicle axle joint for a toy vehicle is described and which includes a socket portion; and a ball portion which matingly cooperates with the socket portion, and which defines a gear cavity, and wherein the ball portion may be selectively oriented relative to the socket portions so as to allow hobbyists to construct a multitude of toy vehicles.

Abstract: An anti-deflection structure for a chassis of a remote-controlled car includes a board which is added below a central differential gear at a center of a chassis, to strengthen a rigid structure of the chassis. A center of the board is provided with a hollow part for emplacing a gear set of the central differential gear, and an exterior side of the hollow part is provided with a plurality of pivoting holes. The pivoting holes correspond to through-holes on the chassis for locking the central differential gear, thereby locking and fixing the board. In addition, the hollow part is locked at columns of the central differential gear by transfixing screws from bottom to top into the pivoting holes and the through-holes. On the other hand, front and rear ends of the board provide for connection of two support arms, thereby constituting the anti-deflection structure for the chassis.

Abstract: An automobile model comprising a pair of left and right rear wheels 21 which are independently driven by different motors 24, a pair of left and right front wheels 22, and a front wheel-supporting mechanism 30 which supports the front wheels 22 such that each front wheel 22 can turn around a predetermined steering axis AX and such that the front wheels 22 can turn in the same direction in association with each other, wherein the steering axis AX is inclined with respect to a vertical direction such that an upper portion of the steering axis AX is located rearward of a lower portion of the steering axis AX in a traveling direction.

Abstract: A mobile robotic device capable of collision detection includes a base frame, two connecting rods pivotably mounted to the base frame for contact with the switches, two gearboxes slidably mounted at bilateral sides of the base frame respectively, two driving mechanisms connected with the gearboxes, two switches mounted to the base frame for generating signals, two springy members connected with the base frame and the connecting rods for keeping the gearboxes rebounding backward, two wheels mounted to the two gearboxes respectively, and a control system mounted to the base frame for receiving the signals from the switches and driving the driving mechanisms and thus driving clockwise or counterclockwise rotation of the wheels.

Abstract: A rocker arm for a model vehicle is provided, comprising a first portion and second portion each having an input and an output arm and each having an opening for receiving a pivot member about which the portions rotate. The first and second portions are secured for rotation together about a rotational axis through the respective openings and are spaced apart generally along the rotational axis. The rocker arm further comprises a suspension input coupling member that extends between the input arms of the first and second portions, where the input arms are spaced along the input coupling member, and a suspension output coupling member that extends between the outputs arms of the first and second portions, where the output arms are spaced along the output coupling member.

Abstract: A toy vehicle with an electric drive is provided that is suitable for operation on a racetrack, and has a chassis with a rear-axle unit, including an electric motor, and a front-axle unit. In order to optimize the toy vehicle with respect to the type of construction and driving characteristics, the chassis has a center frame device extending between the rear-axle unit carrying the electric motor and the front-axle unit, on which center frame part, the rear-axle unit and the front-axle unit constructed in the manner of modules are held in position.

Abstract: A toy vehicle including: a housing defining an interior section of the vehicle; a motor mounted in the housing; a drive shaft operatively connected to the motor and extending through an opening in the housing; and a propeller or wheel mounted on an end portion of the drive shaft. The drive shaft includes a polygon shaped driving element that is countersunk into a rear portion of the propeller/wheel for providing reliable transfer of power from the motor to the propeller/wheel.

Abstract: A suspension structure that is easily processed and assembled, and by which production cost of the suspension structure can be reduced. A suspension structure (1) is installed at the inner bottom surface of a vehicle body (71). A bar-like member (20) is formed of a steel wire and has predetermined torsional elasticity. At both ends of the bar-like member (20), the steel wire is bent into an annular shape to form a first annular section (21) and a second annular section (22). The first annular section (21) is fixed to a projection section (75) on the inner bottom surface of the vehicle body (71). A pivot shaft (30) is attached to the second annular section (22). A swing arm (50) is attached to the other end side of the pivot shaft (30), and the swing arm (50) pivots together with the pivot shaft (30) in the range that the torsional elasticity of the bar-like member (20) allows.

Abstract: A traveling toy having a plurality of steering front wheels and a plurality of rear wheels being connected with a driver, and a suspension of traveling toy in which a trailing arm having one end part supported rotatably at the upper part of a supporting wall standing from the chassis of the traveling toy at one end thereof, a first central hole part for passing a hollow tubular section projecting from the chassis through a specified interval from the supporting wall, a spring part interposed while being energized between a threaded part on top of the hollow tubular section and the end part of the first hole part, and a second hole part opening in the horizontal direction at the other end part serves to pass the axle of rear wheels through the second hole part thus absorbing a shock transmitted from the axle through the spring.

Abstract: A model car with a simple mechanism for adjusting its look and feel is provided. The model car has a means for adjusting a height between a base of the model and a surface. In addition, the model car also has a means for adjusting an angle between the base of the model and at least one wheel.

Abstract: This invention is directed to a device of “a tutorial and wits-increment toy car”, mainly consists of a shell body with gear case at both sides, and within the gear case sets up multiple wheels used to act as mechanical powers transfer connection between the motor and the wheels, whereas at the top and back of the shell body fixed with multiple metal buttons and hexagonal buttons. According to the former structure, altering the size of wheel can adjust the wheel rotating speed, and makes the learners understand the basic electronic and mechanical control theory while playing the toy car, and makes the present invention become a best tool of cerebration training.

Abstract: The present invention relates to a children's car that moves forward with a simple and easy operation with particular care taken of the safety of the child riding the car. A steering block which can be steered with a steering wheel and a steering column is provided at the front of the car body. Drive wheels having a ratchet wheel are provided on opposed sides of the steering block. Auxiliary wheels are provided at the front and the rear of the steering block to stably support the car body. As a child sits on or in the car and turns the steering wheel in alternating directions, the right and left drive wheels rotate in a forward direction. A pawl linked to the steering block engages the ratchet wheels to prevent inverse rotation of the drive wheels, causing the car to proceed ahead in a zig-zag pattern.

Abstract: A radio-controlled car convertible from a two-wheel drive configuration to a four-wheel drive configuration is described. The radio-controlled car includes a chassis, a first drive assembly positioned in a first portion of the chassis, and a modular second drive assembly adapted to be inserted into a second portion of the chassis to modify the radio-controlled car to a four-wheel drive configuration.

Abstract: A running toy having: a pair of right and left wheel supports to rotatably support right and left wheels, respectively; a pair of right and left rotation support portions to rotatably support the right and left wheel supports around an axis line along a back and forth direction as a center, respectively, the right and left rotation support portions being provided on both right and left side portions of a vehicle body, respectively; and a buffer to apply an elastic force to a portion of each of the wheel supports which is above the axis line of the rotation support portion, in a direction to react to the vehicle body, wherein each of the wheel supports supports the wheel on an outside of the axis line of the rotation support portion.

Abstract: A toy vehicle including: a housing defining an interior section of the vehicle; a motor mounted in the housing; a drive shaft operatively connected to the motor and extending through an opening in the housing; and a propeller or wheel mounted on an end portion of the drive shaft. The drive shaft includes a polygon shaped driving element that is countersunk into a rear portion of the propeller/wheel for providing reliable transfer of power from the motor to the propeller/wheel.

Abstract: A mobile toy is described. The mobile toy includes a wheel assembly having a hubcap for removably engaging a wheel of the wheel assembly. The mobile toy may also include a transmitter having a charging pad for charging of a radio-controlled embodiment of the toy. The transmitter comprises an indicator showing certain states of the toy as well as a storage compartment for housing items associated with the toy. Additional embodiments include an assembly for retaining the toy on the charging pad during charging of the toy. A kit for storing the components of the radio-controlled embodiment of the toy is also described.

Abstract: A toy includes a body of a shape of any animal, automobile, etc. and a roller combined with the body and a shaft. The roller is made of a mixture of TPR (thermal plastic rubber) and white oil so as to give the roller some viscosity, having a plurality of lengthwise convex protrusions formed on its outer circumference, The shaft extends and fixed firmly in a center shaft hole formed in the roller, having two ends supported by two plates fixed on an inner wall of the body to let the roller roll together with the shaft. Then the toy can roll down on a slope or a vertical wall surface with slow speed caused by the roller's viscosity and the convex protrusions.

Abstract: A model car having a mechanism, including an electric motor, for raising and lowering the chassis in respect of the ground engaging wheels.

Abstract: The invention is a spring-driven toy vehicle having front and rear chassis portions, at least one front wheel and at least one rear wheel. The front chassis portion is hingably connected to the rear chassis portion. The chassis portions are capable of a pivotal motion relative to one another from a first undeflected position to a second deflected position. A drive motor is mounted to one of the front and rear chassis portions. The motor contains a motor spring. A drive axle is operably connected with the motor spring. The drive axle is connected to at least one front wheel or one rear wheels to rotate the at least one connected wheel. A rotational coupling is configured to transfer the pivotal motion of the chassis portions relative to one another into a rotational motion to wind the motor spring.

Abstract: The present invention relates to a wheel connection for a toy vehicle. The wheel connection utilizes a disc component which is attached to the vehicle suspension arm and a sleeve component which is attached to the vehicle wheel rim. The disc has a groove along its outer edge and the sleeve has a number of deformable outwardly extending tabs positioned on its inner wall. The disc and disc groove and the sleeve and sleeve tabs are sized so as when the wheel rim/sleeve assembly is pushed on to the suspension arm/disc assembly, the tabs first deform until they align with the groove, whereupon the tabs regain their non-deformed shape, within the profile of the disc groove. Similarly, when the wheel rim/sleeve assembly is pulled from the suspension arm/disc assembly, the tabs again deform until they are clear of the disc's outer edge, whereupon the tabs regain their non-deformed shape.

Abstract: The present invention relates to a suspension system for a toy vehicle. The suspension system is independent in that it comprises at least four damping mechanisms (shock absorber), each shock absorber being located proximal to each wheel location. Each shock absorber utilizes a tensioning device, such as a compressed spring, positioned between the toy vehicle chassis and a suspension arm, to provide the active damping feature of the invention. Each shock absorber also utilizes an adjustment means, such as a screw, to selectively change the distance between the suspension arm and chassis. As the screw is adjusted, so the spring is either more or less compressed, providing for a stiffer (more compressed) or a softer (less compressed) suspension.

Abstract: A mechanism includes a first member having a channel and a second member with a generally cylindrical portion at least partially received in the channel. The second member includes a stop portion for limiting relative movement of the first member and the second member. The stop portion is made of a formable material and includes at least three lobes that extend outwardly in different respective directions. The stop portion increases the stiffness of the second member, and is useful in both pivoting and rotating mechanisms for limiting relative movement between the first member and the second member.

Abstract: A radio-controlled toy vehicle is provided with four non-steerable wheels, two on each lateral side of the vehicle. In one embodiment, the wheels on each lateral side are drivingly coupled with a separate, reversible motor. The vehicle is steered by controlling the operation and direction of each motor. In another embodiment, the wheels on each lateral side are drivingly coupled with a single reversible motor. The vehicle is steered through one-way clutches which allow the wheels on one lateral side to operate in either a forward or a reverse direction while the wheels on an opposite lateral side always rotate in the same direction. In both embodiments, a pivoting beam is centrally located on one lateral side, with the wheels on that side being rotatably attached to the beam. The pivoting beam provides for infinite ranges of suspension positions. In operation, the vehicle proceeds until it encounters an obstacle.

Abstract: A child-sized toy vehicle comprising a vehicle chassis upon which any number of a plurality of stylistically different interchangeable vehicle body modules may be removably secured. The various vehicle body module styles may be comprised of separate body module sections such as a front body module, a rear body module, a left side body module, and a right side body module. In addition, body modules from different body styles may be attached to the same vehicle chassis such that a hybrid vehicle is produced.

Abstract: A shock absorber for use as a construction element of a toy building set, the shock absorber comprising a rod element provided with a collar at a first end and a mounting at a second end; a sleeve through which the rod element extends; an air-filled cylinder element abutting the sleeve and enclosing the collar; the air-filled cylinder element having a cylindrical inner surface which is so configured that the collar on the rod element is in displaceable abutment on the inner wall of the cylinder element; and a spring surrounding the rod element having one end in abutment on the rod element at the second end, and having an opposite end in abutment on the sleeve, whereby the spring presses the sleeve towards the air-filled cylinder element.

Abstract: A remote control model car includes a rear suspension mechanism mounted in either side of the chassis. The chassis has a suspension body. The rear suspension mechanism includes a pivotal adjustment rod coupled to the lug of the suspension body, a pivotal arm mechanism, a hub mechanism, and a shock absorber pivotably secured to the arm mechanism and the suspension body. This arrangement allows for a smooth, simple, and reliable wheel angle adjustment.

Abstract: A radio controlled toy vehicle having a single driving wheel. First and second chassis bodies are located on opposite sides of the driving wheel, and the driving wheel and chassis bodies rotatably attached to a primary axle. Support wheels are rotatably attached to the chassis bodies at a location distal to the point of attachment of the chassis bodies to the primary axle. First and second reversible electric motors are drivingly connected to the driving wheel by drive train means. A radio control receiver is attached to one of the chassis bodies, and is adapted to independently actuate the electric motors in a forward or reverse direction in response to control signals sent by a radio control transmitter. When both of the electric motors are operating in the forward or reverse direction, the driving wheel propels the vehicle in that direction.

Abstract: An undercarriage for a vehicle such as a toy truck or an adult size riding vehicle where the undercarriage allows a vertically directed tilt force to engender a turning movement of the wheels. The undercarriage is simply constructed of two spaced apart brackets having oblique slots through which an axle running between the wheels pass. The axle is also engaged by a fulcrum located midway between the brackets and two biasing tabs which are located between the fulcrum and each of the brackets. In straight ahead movement, the axle is slightly biased by the tabs to be located about the mid-point of the slots. However, when a tilt force is applied to the vehicle, then the axle will move to a lower portion of one of the slots and the upper portion of the other slot. At the same time one of the tabs is flexed so as to increase its biasing force on the axle. When the tilt force is removed, the biasing force of the tab pushes the axle to its mid-point position in the slots.

Abstract: A remote control model car has a rear suspension mechanism mounted in either side of the chassis. The chassis has a suspension body. The rear suspension mechanism comprises a pivotal adjustment rod coupled to the lug of the suspension body, a pivotal arm mechanism, a hub mechanism, and a shock absorber pivotably secured to the arm mechanism and the suspension body. This can effect a smooth, simple, and reliable wheel angle adjustment.

Abstract: In one embodiment, a running toy is provided having a rear-end portion of a fore undercarriage with front wheels pivotally coupled with a fore-end portion of a rear undercarriage with rear wheels. Further, a fore toy body is attached to the fore undercarriage, and a rear toy body is attached to the rear undercarriage, where the fore toy body and rear toy body are sustained such that these car bodies move parallel toward or away from each other, and where a rear-wheel driving mechanism for driving at least either the front wheels or the rear wheels is disclosed herein.

Abstract: Mounting bracket structure of remotely controllable toy rally car, including a mounting bracket, intersecting linkages, rebounding shock-absorbers and front and rear support racks on which wheels are mounted. The mounting bracket includes at least two lateral supports racks. Each intersecting linkage includes two intersecting links. The intersecting linkages and the rebounding shock-absorbers are connected between the mounting bracket and the front and rear support racks to support the mounting bracket. The top ends of the intersecting linkages are connected to the mounting bracket between the lateral support racks. The bottom ends of the intersecting linkages are respectively connected to the front and rear support racks. The rebounding shock-absorbers are bridged between outer ends of the lateral support racks and the bottom ends of the intersecting linkages.

Abstract: A remote control running toy comprises a pair of uprights (24), each having a kingpin (22) for steerably supporting the wheels (20); and a steering mechanism (32) which is coupled through steering rods (30) with the uprights (24); wherein the running toy comprises a coil-shaped spring member (40) for absorbing a shock transmitted via the uprights (22) to the steering rods (28). Thereby, the remote control running toy is provided, which is able to prevent the steering rods from being damaged, even if a strong shock acts onto the front wheels, thus improving the reliability of the running toy.

Abstract: A radio-controlled toy vehicle is provided with four non-steerable wheels, two on each lateral side of the vehicle. In one embodiment, the wheels on each lateral side are drivingly coupled with a separate, reversible motor. The vehicle is steered by controlling the operation and direction of each motor. In another embodiment, the wheels on each lateral side are drivingly coupled with a single reversible motor. The vehicle is steered through one-way clutches which allow the wheels on one lateral side to operate in either a forward or a reverse direction while the wheels on an opposite lateral side always rotate in the same direction. In both embodiments, a pivoting beam is centrally located on one lateral side, with the wheels on that side being rotatably attached to the beam. The pivoting beam provides for infinite ranges of suspension positions. In operation, the vehicle proceeds until it encounters an obstacle.