A control method, executed by a control device, controlling a robot comprising a wheel leg portion and a base portion, the wheel leg portion and the base portion comprising a plurality of joints, the method including obtaining motion information of the robot and motion information of a sphere placed on the base portion of the robot, determining, based on the motion information of the robot and the motion information of the sphere when passivity based control is performed on the sphere and the base portion, base control information for controlling the base portion and balancing the sphere on the base portion, determining, based on the base control information, a control torque for controlling each joint of the plurality of joints, and controlling each joint based on the corresponding control torque.

A rocker bogie includes a first base which including a first wheel, a second wheel, and a third wheel each of which is configured to be in contact with a first flat surface, a second base including a fourth wheel which is configured to be in contact with the first flat surface, and a rotary shaft connecting the first base and the second base to each other such that the second base is rotatable with respect to the first base. The rotary shaft is parallel to a first straight line which connects a rotation center of the first wheel and a rotation center of the second wheel to each other and is disposed between a rotation center of the third wheel and the first straight line, and the fourth wheel is disposed at an opposite position to the third wheel across the first straight line.

A rocker bogie includes a first base which including a first wheel, a second wheel, and a third wheel each of which is configured to be in contact with a first flat surface, a second base including a fourth wheel which is configured to be in contact with the first flat surface, and a rotary shaft connecting the first base and the second base to each other such that the second base is rotatable with respect to the first base. The rotary shaft is parallel to a first straight line which connects a rotation center of the first wheel and a rotation center of the second wheel to each other and is disposed between a rotation center of the third wheel and the first straight line, and the fourth wheel is disposed at an opposite position to the third wheel across the first straight line.

A stabilizer device for a work vehicle. The work vehicle having a first ground-engaging device having a first midpoint and a second ground-engaging device having a second midpoint. The first ground-engaging device and the second ground-engaging device configured to move the work vehicle along a surface. The stabilizer device comprising a mount coupled to the work vehicle between the first ground-engaging device and the second ground-engaging device. A stabilizer bar coupled to the mount. An actuator coupled to the mount and the stabilizer bar and configured to raise the stabilizer bar from a ground-engaging position to a stowed position. The stabilizer device extends to one of equal to and beyond the second midpoint in the ground-engaging position.

A motorized personal transport utility vehicle comprises a frame, independent front and rear suspension and a plurality of wheel hubs. Each suspension arm is pivotally coupled to a central frame portion. A pair of front wheel hubs are coupled to the front suspension arms and a pair of rear wheel hubs are coupled to the rear suspension arms. Each of the wheel hubs includes an integrated electric hub motor. The front and rear suspension arms are configured such that the front wheel hub track width is greater than the rear wheel hub track width such that the inner width between the insides of the front wheel hubs is greater than the outer width between the rear wheel hubs.

A motorized personal transport utility vehicle comprises a frame, independent front and rear suspension and a plurality of wheel hubs. Each suspension arm is pivotally coupled to a central frame portion. A pair of front wheel hubs are coupled to the front suspension arms and a pair of rear wheel hubs are coupled to the rear suspension arms. Each of the wheel hubs includes an integrated electric hub motor. The front and rear suspension arms are configured such that the front wheel hub track width is greater than the rear wheel hub track width such that the inner width between the insides of the front wheel hubs is greater than the outer width between the rear wheel hubs.

A self-propelled device includes a spherical housing and an internal drive system. The self-propelled device can further include an internal structure having a magnet holder that holds a first set of magnets and an external accessory comprising a second set of magnets to magnetically interact, through the spherical housing, with the first set magnets.

A self-propelled device includes a spherical housing and an internal drive system. The self-propelled device can further include an internal structure having a magnet holder that holds a first set of magnets and an external accessory comprising a second set of magnets to magnetically interact, through the spherical housing, with the first set magnets.

A pedal connecting mechanism comprises a left pedal, a right pedal and a transverse connecting member, wherein a first cylindrical shaft is provided along the bottom of the left pedal; a first supporting member is provided on the left side of a top wall of the transverse connecting member, and a first groove is provided on the first supporting member; the first cylindrical shaft is provided inside the first groove so that the left pedal is rotatably connected to the first supporting member; a second cylindrical shaft is provided along the bottom of the right pedal; a second supporting member is provided on the right side of the top wall of the transverse connecting member, and a second groove is provided on the second supporting member; and the second cylindrical shaft is provided inside the second groove so that the right pedal is rotatably connected to the second supporting member.

Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.