A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing.

An example implementation for avoiding leg collisions may involve a biped robot reducing a three-dimensional system to a two-dimensional projection of the biped robot's feet. An example biped robot may determine a touchdown location for a swing foot. The biped robot may determine lateral positions of the touchdown location and the swing foot, each relative to a stance foot. Based on one or more of the determined lateral positions of the touchdown location and the swing foot, each relative to the stance foot, the biped robot may determine an intermediate swing point for the swing foot that is not on a line defined by the swing foot and the touchdown location. The biped robot may further cause the swing foot to move to the intermediate swing point, and then cause the swing foot to move to the touchdown location.

A multi-body self-propelled device can include a drive body and a coupled head. The drive body can include a spherical housing and an internal drive system within the spherical housing to propel the multi-body self-propelled device. The drive body can further include a magnet support assembly comprising a rotating portion including a plurality of magnets and a stationary portion comprising one or more magnets. The drive body can further include a yaw motor to drive the rotating portion of the magnet support assembly. The coupled head can include (i) a corresponding rotating portion comprising a plurality of magnets in magnetic interaction, through the spherical housing, with the plurality of magnets of the magnet support assembly, and (ii) a corresponding stationary portion comprising one or more magnets in magnetic interaction with the one or more magnets of the magnet support assembly.

An embodiment is developed for a cylindrically shaped, elliptical rolling robot that has the ability to morph its outer surface as it rolls. The morphing actuation alters lengths of the major and minor axes, resulting in a torque imbalance that rolls the robot along faster or brakes its motion. A control scheme is implemented, whereby angular position and horizontal velocity are used as feedback to trigger and define morphing actuation. A goal of the control scheme is to cause the robot to follow a given velocity profile comprised of steps and ramps. Equations of motion for the rolling robot are formulated, which include rolling resistance torque caused by deformation of the outer surface tread. A computer program solves the equations of motion, and resulting plots show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to commence from an initial position, achieve constant average velocity and slow itself.

A multipurpose rollable moving device is provided. The multipurpose rollable moving device includes: a spherical driving wheel; a driving device that is installed within the driving wheel in order to apply a torque to the spherical driving wheel; a docking portion that is installed within the spherical driving wheel to generate a magnetic force; and a mounting portion that may be attached to a surface of the spherical driving wheel by a magnetic force of the docking portion and that may mount an article. Therefore, the multipurpose rollable moving device can mount an article and easily stably move in an omnidirection on the ground.

A multipurpose rollable moving device is provided. The multipurpose rollable moving device includes: a spherical driving wheel; a driving device that is installed within the driving wheel in order to apply a torque to the spherical driving wheel; a docking portion that is installed within the spherical driving wheel to generate a magnetic force; and a mounting portion that may be attached to a surface of the spherical driving wheel by a magnetic force of the docking portion and that may mount an article. Therefore, the multipurpose rollable moving device can mount an article and easily stably move in an omnidirection on the ground.

An airbox for an air intake system of an engine includes an air inlet for receiving air into the airbox, an air outlet for discharging air from the airbox, and an airbox body defining first and second expansion chambers fluidly connected to one another. The airbox body has a dividing wall separating the first expansion chamber from the second expansion chamber, the dividing wall defining a wall opening fluidly connecting the first and second expansion chambers. An interchangeable flute is removably connected to the airbox body. The interchangeable flute is at least partly disposed in the second expansion chamber and positioned to guide air flowing into the air inlet into the second expansion chamber. The interchangeable flute is removable such that a replacement flute can be installed in its place to selectively modify a noise output of the airbox. Other aspects are also contemplated.

A stacking assembly and accessory stacking kit for connecting to a vehicle. The assembly includes an accessory platform including: a platform body to receive an accessory on a top surface thereof, at least one attachment device connected to the platform body, and a connection portion pivotally connected to the platform body; and at least one attachment fixture for selectively receiving the at least one attachment device, the attachment fixture being configured for connecting to the vehicle, the stacking assembly being configured such that when the stacking assembly is installed on the vehicle: the connection portion being connected to the bumper of the vehicle, the attachment fixture being connected to the bumper and when the attachment device is received in and secured to the attachment fixture, the platform body being secured to the vehicle to prevent pivoting of the platform body.

A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. For the spherical electromagnetically initiated traveling excursor (SEMITE), each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical configuration, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber. The electromagnet is disposed proximal to the channel at the lateral radial periphery. The armature travels from the bottom periphery within the channel to the lateral radial periphery upon activation of the electromagnet.

A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. For the spherical electromagnetically initiated traveling excursor (SEMITE), each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical configuration, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber. The electromagnet is disposed proximal to the channel at the lateral radial periphery. The armature travels from the bottom periphery within the channel to the lateral radial periphery upon activation of the electromagnet.