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Reconfigurable footprint mechanism for omnidirectional vehicles

  • US 5,927,423 A
  • Filed: 03/05/1998
  • Issued: 07/27/1999
  • Est. Priority Date: 03/05/1997
  • Status: Expired due to Fees
First Claim
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1. A surface contacting wheel assembly, the assembly comprising:

  • a support;

    a plurality of members coupled to the support and characterized by a configuration, each member moveable about a common axis fixed with respect to the support and substantially perpendicular to the surface;

    a plurality of wheels, each wheel coupled to one of the members, each wheel having a center of mass, each wheel having at least one point of contact with the surface, the points of contact of the plurality of wheels having a specified spatial relationship such that the specified spatial relationship is reconfigurable, before and during motion of the assembly; and

    at least one sensor for measuring a physical quantity characterizing at least one of the configuration of the members, the motion of the wheel assembly, and the forces acting upon the wheel assembly.

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