Wheeled platforms
First Claim
Patent Images
1. A wheeled structure, comprising:
- a body having at least first and second side portions and having a profile in a center plane, the profile comprising a top-of-body profile;
first and second sets of wheel elements rotatably attached to the first and second side portions, respectively;
a tail element pivotally coupled to a portion of the body, the tail element being pivotally coupled to the body via an articulation element and substantially conforming to and substantially within the top-of-body profile when in a stowed position; and
a drive module coupled to the tail element to control the movement of the tail element between a first, stowed position and a second position where said tail element can make selective contact with a ground plane, wherein the drive module is operable to control, in a continuously variable manner, the angle and position of the tail element relative to the body, so that the tail element can assist in enabling the wheeled structure to traverse steep or difficult terrain;
wherein the first and second sets of wheel elements each comprise at least front and rear wheels; and
wherein the tail, when in the stowed position, is disposed substantially entirely within a wheeled structure profile defined by a plane substantially tangent to a topmost point of the front and rear wheels and within a perimeter defined by the front and rear wheels.
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Accused Products
Abstract
A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.
81 Citations
14 Claims
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1. A wheeled structure, comprising:
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a body having at least first and second side portions and having a profile in a center plane, the profile comprising a top-of-body profile; first and second sets of wheel elements rotatably attached to the first and second side portions, respectively; a tail element pivotally coupled to a portion of the body, the tail element being pivotally coupled to the body via an articulation element and substantially conforming to and substantially within the top-of-body profile when in a stowed position; and a drive module coupled to the tail element to control the movement of the tail element between a first, stowed position and a second position where said tail element can make selective contact with a ground plane, wherein the drive module is operable to control, in a continuously variable manner, the angle and position of the tail element relative to the body, so that the tail element can assist in enabling the wheeled structure to traverse steep or difficult terrain; wherein the first and second sets of wheel elements each comprise at least front and rear wheels; and wherein the tail, when in the stowed position, is disposed substantially entirely within a wheeled structure profile defined by a plane substantially tangent to a topmost point of the front and rear wheels and within a perimeter defined by the front and rear wheels. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A wheeled structure, comprising:
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a body having at least first and second side portions; a first end wheel element, an intermediate wheel element, and a second end wheel element rotatably attached to the first and second side portions, respectively, the intermediate wheel element having a wider track than the first end wheel element and the second end wheel element; wherein each first end, intermediate, and second end wheel elements is arrayed with a selected degree of rocker of the wheel elements coupled to the body, wherein the intermediate wheel element is always in contact with the level ground plane, and the first and second end wheel elements are selectively in contact with or adjacent to the level ground plane to enable the wheeled structure to turn-in-place, enhance stability, and to reduce friction losses on smooth terrain, and further wherein the first end, intermediate, and second end wheel elements rotatably attached to the first and second side portions, respectively, are collectively arrayed in a geometrical arrangement having left-right and fore-aft symmetry; wherein the first and second sets of wheel elements each comprise at least front and rear wheels; and wherein the tail, when in the stowed position, is disposed substantially entirely within a wheeled structure profile defined by a plane substantially tangent to a topmost point of the front and rear wheels and within a perimeter defined by the front and rear wheels.
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11. A wheeled structure, comprising:
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a body having at least first and second side portions; a first end wheel element, an intermediate wheel element, and a second end wheel element rotatably attached to the first and second side portions, respectively; a tail element pivotally coupled to a portion of the body, the tail element being pivotally coupled to a portion of the body via an articulation element; and a drive module coupled to the tail element to control the movement of the tail element from a first, stowed position to at least one second position where said tail element can make selective contact with terrain; wherein at least one wheel element is substantially scalloped in profile, and wherein the substantially scalloped profile is selected such that a concave portion of the scallop profile is operable to substantially engage a bullnosed stair step edge. - View Dependent Claims (12, 13, 14)
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Specification