A trailer includes a set of removable castor wheels attached to a rear portion thereof, wherein the castor wheels are oriented to face rearwardly when the trailer is oriented in the traditional horizontal position. This arrangement allows the trailer to be tilted upwardly into a vertical orientation so that it rests on the castor wheels, thus providing an apparatus and method for easily moving and storing trailers more efficiently due to the reduced footprint required for such trailer storage. The castor wheels, in one embodiment, include mounting brackets that may be attached to the trailer using a securing rod, similarly to the mounting mechanisms commonly used for removably attaching trailer hitches into trailer hitch sleeves, thus rendering the castor wheels removable from the trailer when they are not in use for storage purposes.

This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.

This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.

A trailer includes a set of removable castor wheels attached to a rear portion thereof, wherein the castor wheels are oriented to face rearwardly when the trailer is oriented in the traditional horizontal position. This arrangement allows the trailer to be tilted upwardly into a vertical orientation so that it rests on the castor wheels, thus providing an apparatus and method for easily moving and storing trailers more efficiently due to the reduced footprint required for such trailer storage. The castor wheels, in one embodiment, include mounting brackets that may be attached to the trailer using a securing rod, similarly to the mounting mechanisms commonly used for removably attaching trailer hitches into trailer hitch sleeves, thus rendering the castor wheels removable from the trailer when they are not in use for storage purposes.

An omnidirectional ball wheel includes a ball wheel skeleton, at least three first wheels and second wheels. The ball wheel skeleton has a curved outer surface, is pivotable, and defines a first pivot axis. Each first wheel has a curved outer surface, is pivotably connected to the ball wheel skeleton, and defines a second pivot axis perpendicular to and intersecting the first pivot axis. The top of the outer surface of each first wheel is provided with a through hole to accommodate the second wheel which is pivotably connected to the ball wheel skeleton and defines a third pivot axis perpendicular to both the first pivot axis and the second pivot axis. The outer surfaces of the first wheels, the outer surface of the ball wheel skeleton and a portion of an outer surface of the second wheel are on the same spherical surface.

Provided is a moving body capable of transmitting driving force of a drive unit to a spherical wheel without a separation between the spherical wheel and the drive unit even in the case where the moving body receives impact due to the road surface condition or the like. The moving body (10) is a self-sustained mobile robot. The moving body (10) includes a spherical wheel (21), a drive unit (22) which is in contact with the spherical wheel (21) to give a rotational driving force to the spherical wheel (21), a support (31) which supports the drive unit (22), and a biasing mechanism (41) which is suspended from the support (31) and abuts on the spherical wheel (21) to bias the spherical wheel (21) in a direction toward the support (31).

Provided is a moving body capable of transmitting driving force of a drive unit to a spherical wheel without a separation between the spherical wheel and the drive unit even in the case where the moving body receives impact due to the road surface condition or the like. The moving body (10) is a self-sustained mobile robot. The moving body (10) includes a spherical wheel (21), a drive unit (22) which is in contact with the spherical wheel (21) to give a rotational driving force to the spherical wheel (21), a support (31) which supports the drive unit (22), and a biasing mechanism (41) which is suspended from the support (31) and abuts on the spherical wheel (21) to bias the spherical wheel (21) in a direction toward the support (31).

A vertically adjustable support or table with legs each having a pneumatic foot assembly operated to engage roller ball assemblies on the floor surface thereby allowing the table to be rolled. Each pneumatic foot assembly has a piston unit which is operated by pressurized air from a source, which is controlled by a valve on the table, and which is fluidically connected to a piston chamber of the pneumatic foot assembly. Once the table has been rolled across the floor and is in a desired location, the control valve is operated to release the air from the piston chamber and to rest a circular rim of the pneumatic foot assembly, and therefore, the legs of the table firmly against the floor surface for a stationary or fixed positioning of the table.

An article movement system includes an article and at least one ball wheel. The article has first and second article surfaces meeting at a first article edge. The ball wheel is located along the first article edge and includes a ball, a bearing arrangement and a shell. The ball engages a surface underlying the article, the bearing arrangement supports the ball for omni-directional rotational movement, and the shell is located along the first article edge and contains the ball and the bearing arrangement. The shell defines a non-circular ball opening through which a portion of the ball extends to contact the underlying surface. The article, the bearing arrangement and the shell are configured such that the ball wheel is able to support the article for omni-directional rolling motion over the underlying surface with either of the first and article surfaces parallel thereto, and at any orientation therebetween.

An article movement system includes an article and at least one ball wheel. The article has first and second article surfaces meeting at a first article edge. The ball wheel is located along the first article edge and includes a ball, a bearing arrangement and a shell. The ball engages a surface underlying the article, the bearing arrangement supports the ball for omni-directional rotational movement, and the shell is located along the first article edge and contains the ball and the bearing arrangement. The shell defines a non-circular ball opening through which a portion of the ball extends to contact the underlying surface. The article, the bearing arrangement and the shell are configured such that the ball wheel is able to support the article for omni-directional rolling motion over the underlying surface with either of the first and article surfaces parallel thereto, and at any orientation therebetween.