Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

An electric vehicle includes a lateral self-stabilization system and may further include a fore-aft self-stabilization system. The lateral self-stabilization system may include a controller configured to cause an actuator to laterally tilt a frame of the vehicle based on sensed information relating to an orientation of the vehicle, or portion thereof, about a roll axis. The frame of the vehicle may include any suitable structure configured to be laterally tilted by the actuator relative to an axle of the vehicle. The fore-aft stabilization system may include a motor controller configured to drive a motor of the vehicle based on sensed information relating to a pitch angle of the vehicle. In some examples, the vehicle is a robotic vehicle.

Electric vehicles include adjustable battery positions and/or adjustable track widths for controlling vehicle stability. In some examples, an electric vehicle comprises a positioning mechanism configured to move the battery pack relative to the support structure (e.g., operable as the vehicle's frame) to change the vehicle's COG. The battery pack can be moved in response to other vehicle operations, e.g., COG changes caused by adding/moving loads, changes to the route grade, and the like. The battery pack can be slidably coupled to the support structure. In some examples, an electric vehicle comprises a track adjustment mechanism configured to move the vehicle's wheel axle relative to the support structure, along the wheel axle center axis, thereby changing the track width. The wheel axle can be coupled to a hub motor. In some examples, the battery is moved, and/or the track width is changed during the vehicle's operation.

An automotive chassis which has an H-shaped base mounted to a vehicle. An electric motor having a rotatable axis is mounted to a metal floor situated in a square, box-shaped center in the H-shaped base. A metal disk is coupled to the axis of the electric motor, and rotation of the axis of the electric motor causes rotation of the metal disk, creating a centrifugal force that stabilizes the vehicle.

An automotive chassis which has an H-shaped base mounted to a vehicle. An electric motor having a rotatable axis is mounted to a metal floor situated in a square, box-shaped center in the H-shaped base. A metal disk is coupled to the axis of the electric motor, and rotation of the axis of the electric motor causes rotation of the metal disk, creating a centrifugal force that stabilizes the vehicle.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

A rack system for a commercial vehicle including at least one guide rail fixable to at least one vehicle structure of the commercial vehicle, and at least one rack slidingly supported by the guide rail back and forth in a lateral direction of the commercial vehicle. To laterally balance a loading of the commercial vehicle the rack system comprises at least one fixing unit for temporary fixing the rack selectively in one of several fixing positions disposed along the guide rail by fixing the rack to the guide rail and/or to the vehicle structure.

Provided is a self-driving vehicle, e.g., a follower vehicle, that engages in communicative behaviors using body dynamics. Also provided is a method of using body dynamics to communicate behaviors in a self-driving vehicle. The vehicle may include a shifting assembly configured to shift and/or tilt a vehicle body to communicate such behaviors, e.g., acceleration, deceleration, and near constant velocity. The shifting and/or tilting of the body in combination with the vehicle's operation communicates those operations to bystanders. With better informed bystanders, improved safety between bystanders and the vehicle may be achieved.

Dynamic control of a center of mass position is based on replacement of discrete motion of macro body (counterweighing solid or counterbalancing mechanisms) for continuous molecular flow of counterweighing liquid. Redistributing liquid counterweight between chambers attached to independently moving parts of robot allows its motion to new stable position without disruption in static stability and dynamic balance. Various embodiments include bipods/humanoids, wheeled locomotion robots and hybrid wheeled/multi-pod bio-like robotic systems; some embodiments allow reversible mutual reconfiguration between various structural arrangements. In humanoid embodiments, method allows moving on uneven terrain or ascending staircases while maintaining static stability; method also decreases the probability of fall and secures self-rising if a fall occurred. In some embodiments liquid counterweight may be transferred upon high barriers exceeding the height of robot by a few folds, such as walls of the building or ledge or steep slope in mountains, thus providing robots with capability principally not available to prior art.