Multi-mode skid steering
First Claim
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1. A method for skid steering, comprising:
- applying a differential torque to each of a first side and a second side of a wheeled vehicle including an articulated suspension system, the first side having a plurality of first wheel assemblies and the second side having a plurality of second wheel assemblies;
articulating a subset of the plurality of first wheel assemblies to a height above a ground that is different from a height above the ground of each of the plurality of second wheel assemblies, to vary a cumulative traction of the plurality of first wheel assemblies with respect to a cumulative traction of the plurality of second wheel assemblies, and affect a turning capability of the wheeled vehicle; and
modifying the articulation to approach a critical damped response of a vehicle turning rate with respect to a commanded rate.
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Abstract
A method includes operating a wheeled vehicle including an articulated suspension system; and articulating the suspension system to skid steer the vehicle. A wheeled vehicle having an articulated suspension system includes a skid steering controller capable of articulating the suspension system to skid steer the vehicle. The skid steering controller may be implemented in software and may, but does not necessarily, include three stages for applying a differential torque, varying the traction of at least one wheel, and finely adjusting the wheel'"'"'s suspension to approach a critical damped response of the vehicle turning rate with respect to its commanded rate, respectively.
163 Citations
15 Claims
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1. A method for skid steering, comprising:
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applying a differential torque to each of a first side and a second side of a wheeled vehicle including an articulated suspension system, the first side having a plurality of first wheel assemblies and the second side having a plurality of second wheel assemblies; articulating a subset of the plurality of first wheel assemblies to a height above a ground that is different from a height above the ground of each of the plurality of second wheel assemblies, to vary a cumulative traction of the plurality of first wheel assemblies with respect to a cumulative traction of the plurality of second wheel assemblies, and affect a turning capability of the wheeled vehicle; and modifying the articulation to approach a critical damped response of a vehicle turning rate with respect to a commanded rate. - View Dependent Claims (2, 3, 4, 5)
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6. A skid steer controller, comprising:
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a first stage capable of applying a differential torque to each side of a first side and a second side of a vehicle; a second stage capable of varying a traction of at least one wheel contacting a ground surface by articulating the at least one wheel, wherein the at least one wheel is on the first side of the vehicle and the traction is varied so that the traction at the least one wheel is different from a traction at all of the wheels on the second side of the vehicle; and a third stage capable of finely adjusting a suspension of the at least one wheel to approach a critical damped response of a vehicle turning rate with respect to a commanded rate. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A method, comprising:
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operating a wheeled vehicle including an articulated suspension system, wherein the wheeled vehicle has a first side having a plurality of first wheels and a second side having a plurality of second wheels, and the suspension system is configured to individually articulate each wheel of the plurality of first wheels and the plurality of second wheels; and articulating the suspension system to skid steer the vehicle by articulating a subset of the plurality of first wheels to a height above a ground level that is different from a height above the ground level of each of the plurality of second wheels, to vary a cumulative traction at the plurality of first wheels with respect to a cumulative traction at the plurality of second wheels. - View Dependent Claims (13, 14)
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15. A method for skid steering, comprising:
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applying a differential torque to each of a first side and a second side of a wheeled vehicle including an articulated suspension system, wherein the first side has at least three first wheel assemblies and the second side has at least three second wheel assemblies; and articulating one wheel assembly of the at least three first wheel assemblies to a height above a ground that is different from a height above the ground of each of the plurality of second wheel assemblies, to vary a cumulative traction of the plurality of first wheel assemblies with respect to a cumulative traction of the plurality of second wheel assemblies, and affect a turning capability of the wheeled vehicle, wherein the articulated one wheel assembly is a middle wheel assembly.
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Specification