Systems and methods are disclosed for holonomic drivetrain modules for mobile robots. In one embodiment, an example mobile robot may include a chassis, and a holonomic drivetrain module removably coupled to the chassis. The holonomic drivetrain module may include a first drive wheel having a caster angle of substantially zero, a first bearing block assembly vertically aligned with the first drive wheel, and a first steer motor coupled to the first bearing block assembly and vertically aligned with the first drive wheel.

Systems and methods are disclosed for holonomic drivetrain modules for mobile robots. In one embodiment, an example mobile robot may include a chassis, and a holonomic drivetrain module removably coupled to the chassis. The holonomic drivetrain module may include a first drive wheel having a caster angle of substantially zero, a first bearing block assembly vertically aligned with the first drive wheel, and a first steer motor coupled to the first bearing block assembly and vertically aligned with the first drive wheel.

The steering system includes: a first steering device to-steer left and right wheels in a mechanically associated manner by changing an angle of left and right chassis frame components; and a second steering device to drive a supplementary turning actuator to change angles of the wheels relative to the chassis frame components. The second steering device includes a supplementary turning control section to perform a control to cause turning by a steering angle that is a difference between a steering angle determined by a numerical model of vehicle motion on the basis of the steering command angle and the vehicle velocity and an actual steering angle.

A surface characterization system includes an active suspension a system with a wheel controller to control a first and second wheel of a vehicle where the active suspension causes a difference in loading between the first and second wheel. The wheel controller may cause the first wheel to slow and receive a signal indicative of a change of state of the vehicle. The wheel controller may cause the second wheel to oppose the change of state caused by the first wheel. The surface characterization system may estimate tire-surface parameterization data associated with the first tire and a surface upon which the vehicle is located.

A steering system for controlling an agricultural machine having a pair of front and rear wheels includes a controller and a steer input sensor for detecting a change in an operator steer input corresponding to a steer command. The system includes a displacement input for communicating a motor displacement associated with an operating mode. A primary differential steering system includes a drive motor for operably controlling the pair of front wheels and a secondary steering system controls the pair of rear wheels. The controller determines if the motor displacement is being controlled according to a first motor displacement or a second motor displacement, and outputs a control signal to actuate first and second actuators as a function of the steer command. The control signal includes a rear steering gain that is a function of machine speed and either the first motor displacement or the second motor displacement.

A motor vehicle is controlled via a method, particularly for steering during a malfunction. Two wheels are arranged on a steerable axle of the motor vehicle and each can be driven by a single-wheel drive. At least one wheel is arranged on a non-steerable axle of the motor vehicle and can be driven by a wheel drive. In the event of a malfunction of one of the single-wheel drives being identified, a drive torque or a braking torque is generated with the functioning single-wheel drive of the wheel arranged on the steerable axle of the motor vehicle to steer the wheels arranged on the steerable axle in a specified direction. A drive torque or a braking torque is generated with the wheel drive of the wheel arranged on the non-steerable axle of the motor vehicle to at least partially bring about a specified longitudinal movement of the motor vehicle.

There is provided a drive assembly comprising: a reconfigurable differential drive comprising a first wheel and a second wheel, wherein the first and second wheels are moveable with different angular velocities around respective first and second rotation axes; a steering actuator configured to rotate the first wheel around a first pivot axis and/or the second wheel around a second pivot axis; wherein the first and second wheels are coupled such that a rotation of the first wheel around the first pivot axis by a first adjustment angle results in a rotation of the second wheel around the second pivot axis by a second adjustment angle, the second adjustment angle being dependent on the first adjustment angle.

A vehicle includes a chassis, an axle pivotally coupled to the chassis such that the axle can tilt from side to side relative to the chassis, a tilt-angle sensor configured to detect a tilt angle of the axle relative to the chassis, and steerable hubs carried by the axle. Each hub is configured to rotate about steering axes relative to the axle, and a steering-angle sensor is configured to detect a steering angle of at least one hub relative to the axle. A control system limits a maximum steering angle of the hubs based at least in part on a size of tires or tracks carried by the steerable hubs and the detected tilt angle of the axle. A method includes detecting a tilt angle of the axle relative to the chassis and limiting the maximum steering angle of the hubs.

The invention relates to a power assisting steering system for a vehicle having at least a first and a second steered wheel, the system comprising a control unit configured to receive input on a desired change of steering angle, a first and a second power generating device configured to provide power assisted steering for turning the first and the steered wheel, respectively. The control unit, in response to the received input, is configured to alternatingly activate and deactivate the first and second power generating device, respectively, so as to repeatedly and alternatingly provide power assistance to the first and the second steered wheel as the first and second steered wheels are turned to achieve the desired change of steering angle. The invention also relates to a method of operating a power assisting steering system.

The invention relates to a power assisting steering system for a vehicle having at least a first and a second steered wheel, the system comprising a control unit configured to receive input on a desired change of steering angle, a first and a second power generating device configured to provide power assisted steering for turning the first and the steered wheel, respectively. The control unit, in response to the received input, is configured to alternatingly activate and deactivate the first and second power generating device, respectively, so as to repeatedly and alternatingly provide power assistance to the first and the second steered wheel as the first and second steered wheels are turned to achieve the desired change of steering angle. The invention also relates to a method of operating a power assisting steering system.