A hydrostatic transaxle includes: a casing that is provided with an openable and closable filter insertion port and is filled with hydraulic oil; a hydraulic continuously variable transmission that is arranged inside the casing; a filter holding member that includes a support base that is a hollow cylindrical portion and oil-tightly partitions an inside of a cylinder and an outside of the cylinder, and a filter connection port that is a hollow cylindrical portion extending from a peripheral side surface of the support base and communicating with the inside of the cylinder, the support base communicating the inside of the cylinder to the port, and arranged between the center section and the casing facing the port; and a filter body that is freely inserted to and removed from the casing via the filter insertion port.

A walking vehicle including a chassis and a plurality of wheel-leg components is described. The plurality of wheel-leg components are collectively operable to provide wheeled locomotion and walking locomotion.

A method of controlling driving of a vehicle using an in-wheel system includes: calculating a time to collision (TTC) by dividing a distance between the vehicle and an obstacle located in front of the vehicle by relative velocity; determining whether the vehicle enters a braking avoidance section, based on the calculated TTC; and generating, by a motor mounted in each wheel, braking force of a brake by an amount of shortage of braking force of the brake compared with a demanded braking force if the vehicle enters the braking avoidance section.

There is provided an electrically driven vehicle that well balances calculation volumes and communication volumes of two control devices configured to drive and control motors for driving. The electrically driven vehicle comprises at least one motor for driving and a first control device and a second control device configured to control the motor. The first control device is configured to calculate a target torque that is to be output from the motor, based on information including an accelerator position, to calculate a current command based on the calculated target torque, and to send the calculated current command to the second control device. The second control device is configured to use the current command, a phase current of the motor and a rotational angle of the motor such as to drive the motor by feedback control.

The turning radius of a differentially steered vehicle towing a trailer is controlled when turning so that its turning radius is greater than a minimum allowable turning radius. The turning radius may be autonomously adjusted using a controller to monitor the instantaneous rotational speed differential between the driven wheels and increase or decrease the relative speed between the wheels when the instantaneous rotational speed differential exceeds a threshold rotational speed differential, indicating a turn which is too tight. Alternately, the turning radius may be controlled by the vehicle's operator, who receives a signal from the controller indicating that the vehicle's turning radius is less than the minimum allowable. The operator may then take action to enlarge the turning radius using manual controls.

A vehicle drive device with a variable transmission includes a first driving module that provides a driving force, a second driving module that controls a transmission ratio, a reduction gear part comprising a first sun gear, a second sun gear, and a planetary gear provided inside the second driving module, and an output part connected to one of the first sun gear, the second sun gear, and the planetary gear. In particular, the first driving module is connected to another one of the first sun gear, the second sun gear, and the planetary gear that is not connected to the output part.

In a vehicle drive system using a motor for cruising, the connection node of serially-connected first and second batteries is grounded. The operation of an inverter is controlled so that the motor drive voltage is higher than the output voltage of each of the first and second batteries. A battery unit is configured so that third and fourth batteries each in a form of a cartridge are removably loaded, and the loaded third battery is connected in parallel with the first battery and the loaded fourth battery is connected in parallel with the second battery.

Disclosed is a mobile object including a body part, a drive part coupled to one side of the body part and including one or more wheels, and an accommodation part coupled to the other side of the body part and having an internal space capable of accommodating an article, in which the drive part is coupled to a lower region of the body part, and the body part is rotatably coupled to the drive part, and in which the accommodation part is coupled to an upper region of the body part, and the accommodation part rotatably coupled to the body part.

A moving body drive unit has an electric motor that is located inside the case and has a motor shaft extending in a first direction, a gear shaft that is located, inside the case, parallel to the motor shaft so as to extend in the first direction and has a bevel gear formed thereon, an intermediate gear mechanism that transmits power from the motor shaft to the gear shaft, and a differential gear device that is located inside the case and has a ring gear that meshes with the bevel gear to transmit power from the gear shaft to two output shafts extending in a second direction. The motor shaft and the gear shaft are arranged at different positions in both the second direction and in a third direction that is orthogonal to both the first direction and the second direction.

A mobile omnidirectional device having a base support, four wheels pivotally connected to the base support, each wheel being driven by a drive motor, a controller for individually controlling each of the drive motors, and a power source for powering the controller and the drive motors. The device provides a zero inch turning radius and can be configured as a jib hoist or a rolling transportation cart.