A linkage-based shifting assembly comprises first and second arms, having a first wheel rotatably coupled to a proximal end of the first arm and a second wheel rotatably coupled to a proximal end of the second arm. A shifting assembly is configured to couple to a chassis, wherein the shifting assembly is coupled to distal ends of the first and second arms and configured to cause a relative shifting motion between the chassis and the first and second wheels. The linkage-based shifting assembly can form part of a vehicle. The vehicle can be a two-wheeled vehicle. The vehicle can be a mobile carrier. The mobile carrier can be a two-wheeled vehicle.

The vehicle includes a load bearing portion, a counterweight, a stability control system and a controller. The counterweight is mounted on the load transport vehicle along a longitudinal axis of the load transport vehicle. The counterweight is configured to counter a first moment generated by a load carried by the load bearing portion. The first moment causes the load transport vehicle to rotate along a first vertical plane perpendicular to a ground on which the load transport vehicle rests or is driven. The first plane is parallel to the longitudinal axis. The stability control system is mounted on the load transport vehicle. The stability control system is extendable along the longitudinal axis to counter a second moment causing the load transport vehicle to rotate along the first vertical plane.

The vehicle includes a load bearing portion, a counterweight, a stability control system and a controller. The counterweight is mounted on the load transport vehicle along a longitudinal axis of the load transport vehicle. The counterweight is configured to counter a first moment generated by a load carried by the load bearing portion. The first moment causes the load transport vehicle to rotate along a first vertical plane perpendicular to a ground on which the load transport vehicle rests or is driven. The first plane is parallel to the longitudinal axis. The stability control system is mounted on the load transport vehicle. The stability control system is extendable along the longitudinal axis to counter a second moment causing the load transport vehicle to rotate along the first vertical plane.

A work vehicle includes: a body frame; a front weight at a front end portion of the body frame; a support mechanism supporting the front weight in such a manner that the front weight is movable in a front-back direction relative to the body frame; and a drive actuator configured to move the front weight in the front-back direction relative to the body frame between (i) a back position, at which the front weight is close to the body frame, and (ii) a front position, at which the front weight is far from the body frame.

A work vehicle includes: a body frame; a front weight at a front end portion of the body frame; a support mechanism supporting the front weight in such a manner that the front weight is movable in a front-back direction relative to the body frame; and a drive actuator configured to move the front weight in the front-back direction relative to the body frame between (i) a back position, at which the front weight is close to the body frame, and (ii) a front position, at which the front weight is far from the body frame.

An inspection robot includes 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 includes 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 humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.

A system includes an inspection robot having a plurality of acoustic sensors coupleable to an inspection surface through a couplant chamber defining a delay line therebetween; the plurality of acoustic sensors configured to provide raw acoustic data; a controller, comprising: an acoustic data circuit structured to interpret the raw acoustic data; a thickness processing circuit structured to determine a primary mode value and a primary mode score value in response to the raw acoustic data; and wherein the thickness processing circuit is further structured to determine a thickness value in response to the primary mode value and the primary mode score value.

A system includes an inspection robot comprising a lead inspection sensor providing lead inspection data, and a trailing inspection sensor; a controller, comprising: an inspection data circuit structured to interpret the lead inspection data; a sensor configuration circuit structured to determine a trailing sensor configuration change for the trailing inspection sensor in response to the lead inspection data; and a sensor operation circuit structured to adjust a trailing sensor configuration for the trailing inspection sensor in response to the trailing sensor configuration change.