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.

A four-wheeled articulated steering vehicle for terrain exploration. The four-wheeled articulated steering vehicle has a pair of robotic tethered two-wheel vehicles that dock, lock, and drive long distances as the four-wheeled, articulated steering vehicle. Two actuated docking mechanisms attached on opposite ends of a central module of the four-wheeled vehicle enable “sit/stand” functionality. The “sit” configuration is achieved by aligning each dock mechanism parallel or nearly parallel to the surface, allowing two-wheel vehicle to detach and explore while the other remains docked and serves as a backup. While ‘sitting’, the central module rests on the ground and is outfitted with shovel-style wedges for passive anchoring. In order to “stand”, the exploring two-wheel vehicle reattaches, locks, and both dock mechanisms are rotated until each two-wheel vehicle's caster arm is upright and the central module is lifted off the ground. Once upright, each two-wheel vehicle rotates about a pivot point for articulated, all-wheel steering, which is accomplished by applying differential wheel torques.

A four-wheeled articulated steering vehicle for terrain exploration. The four-wheeled articulated steering vehicle has a pair of robotic tethered two-wheel vehicles that dock, lock, and drive long distances as the four-wheeled, articulated steering vehicle. Two actuated docking mechanisms attached on opposite ends of a central module of the four-wheeled vehicle enable “sit/stand” functionality. The “sit” configuration is achieved by aligning each dock mechanism parallel or nearly parallel to the surface, allowing two-wheel vehicle to detach and explore while the other remains docked and serves as a backup. While ‘sitting’, the central module rests on the ground and is outfitted with shovel-style wedges for passive anchoring. In order to “stand”, the exploring two-wheel vehicle reattaches, locks, and both dock mechanisms are rotated until each two-wheel vehicle's caster arm is upright and the central module is lifted off the ground. Once upright, each two-wheel vehicle rotates about a pivot point for articulated, all-wheel steering, which is accomplished by applying differential wheel torques.

A vehicle for transporting persons and/or goods, having at least one frame which includes of at least one frame element which extends substantially parallel or obliquely to the longitudinal direction of the vehicle, at least one wheel carrier which can be detachably secured to the frame element and which, together with the frame element, forms a receiving region between the wheel carrier and the frame element. The wheel carrier and the frame element are spaced apart from one another at least in sections so as to form a cavity. The frame also includes at least one wheel unit which includes a wheel and can be fixed or is fixed in a rotatably mounted manner at least in sections in the receiving region between the wheel carrier and the frame element.

A mobile self-unloading observatory is presented for transporting observation equipment such as a telescope to a remote location, with a subsequent automatic setting up the equipment for observation. The observation equipment is transported on a suspended platform that protects the equipment against shock and vibrations. At the remote location, a self-leveling telescopic pier is extended to the ground under the chassis of the observatory, and released from being held within a frame of the observatory. The telescopic pier is extended towards the platform to support the observation equipment over the ground. The transportation, the setting up, and the teardown of the equipment may be performed without having to manually handle heavy or bulky objects.

An electrical passenger car, the electrical passenger car including: at least two electrically driven motors; motor control electronics; sensors; and wheels, where the wheels include a first front wheel and a first back wheel, where the first back wheel has a radius at least 15% greater than a radius of the first front wheel, and where the motor control electronics control the at least two electrically driven motors to provide a greater torque to the front wheel than to the back wheel, or where the motor control electronics control the at least two electrically driven motors to provide a greater torque to the back wheel than to the front wheel.

An omnidirectional moving device is provided with a vehicle chassis, a vehicle body, a universal coupling, and an attitude stabilizing system. In the vehicle chassis, a plurality of wheels that are capable of moving omnidirectionally are provided. The vehicle body is mounted on the vehicle chassis. The universal coupling connects the vehicle chassis to the vehicle body, and the attitude of the vehicle body relative to the vehicle chassis can be changed via this universal coupling. The attitude stabilizing system causes the vehicle chassis to move in a direction that corresponds to a change in the attitude of the vehicle body, and maintains the attitude stability of the vehicle body.

An omnidirectional moving device is provided with a vehicle chassis, a vehicle body, a universal coupling, and an attitude stabilizing system. In the vehicle chassis, a plurality of wheels that are capable of moving omnidirectionally are provided. The vehicle body is mounted on the vehicle chassis. The universal coupling connects the vehicle chassis to the vehicle body, and the attitude of the vehicle body relative to the vehicle chassis can be changed via this universal coupling. The attitude stabilizing system causes the vehicle chassis to move in a direction that corresponds to a change in the attitude of the vehicle body, and maintains the attitude stability of the vehicle body.

Certain embodiments disclosed in the present document relate to an electronic device and a method for operating the same. According to an embodiment, it is possible to provide an electronic device including: a ball structure including a housing and a first driving module configured to contact at least a part of an inner surface of the housing and to drive the housing; an outer ring structure rotatably coupled to an outer surface of the ball structure; an inner ring structure arranged inside the housing so as to face the outer ring structure with the housing interposed therebetween; and a second driving module arranged inside the housing so as to drive the inner ring structure.

Certain embodiments disclosed in the present document relate to an electronic device and a method for operating the same. According to an embodiment, it is possible to provide an electronic device including: a ball structure including a housing and a first driving module configured to contact at least a part of an inner surface of the housing and to drive the housing; an outer ring structure rotatably coupled to an outer surface of the ball structure; an inner ring structure arranged inside the housing so as to face the outer ring structure with the housing interposed therebetween; and a second driving module arranged inside the housing so as to drive the inner ring structure.