An embodiment is developed for a cylindrically shaped, elliptical rolling robot that has the ability to morph its outer surface as it rolls. The morphing actuation alters lengths of the major and minor axes, resulting in a torque imbalance that rolls the robot along faster or brakes its motion. A control scheme is implemented, whereby angular position and horizontal velocity are used as feedback to trigger and define morphing actuation. A goal of the control scheme is to cause the robot to follow a given velocity profile comprised of steps and ramps. Equations of motion for the rolling robot are formulated, which include rolling resistance torque caused by deformation of the outer surface tread. A computer program solves the equations of motion, and resulting plots show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to commence from an initial position, achieve constant average velocity and slow itself.

An embodiment is developed for a cylindrically shaped, elliptical rolling robot that has the ability to morph its outer surface as it rolls. The morphing actuation alters lengths of the major and minor axes, resulting in a torque imbalance that rolls the robot along faster or brakes its motion. A control scheme is implemented, whereby angular position and horizontal velocity are used as feedback to trigger and define morphing actuation. A goal of the control scheme is to cause the robot to follow a given velocity profile comprised of steps and ramps. Equations of motion for the rolling robot are formulated, which include rolling resistance torque caused by deformation of the outer surface tread. A computer program solves the equations of motion, and resulting plots show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to commence from an initial position, achieve constant average velocity and slow itself.

A wheel for vehicles, in particular with electric or hybrid propulsor, is provided that is apt to recover at least a part of the energy which is required in order to deform the tire of the wheel during its rotation and to transfer the energy, recovered in this manner, from the wheel to the vehicle on which the wheel is mounted, so that this energy, recovered, is used to generate the electrical energy intended to feed the devices installed on the vehicle, such as in particular the respective electric propulsor.

A wheel for vehicles, in particular with electric or hybrid propulsor, is provided that is apt to recover at least a part of the energy which is required in order to deform the tire of the wheel during its rotation and to transfer the energy, recovered in this manner, from the wheel to the vehicle on which the wheel is mounted, so that this energy, recovered, is used to generate the electrical energy intended to feed the devices installed on the vehicle, such as in particular the respective electric propulsor.

A wheel rotated by a load applied to an axle remaining stationary at an eccentric position is disclosed. The present invention comprises: the wheel configured such that the outer periphery of an inner rim of the wheel assembled to a wheel hub provided at the axle to which the load is applied applies pressure to a plurality of compressive force elastic bodies provided at the inner periphery of an outer rim of the wheel; and a control roller for pushing the outer rim of the wheel at a gap of a predetermined range such that the axle provided at the wheel hub always remains stationary at the eccentric position of the wheel.

A wheel rotated by a load applied to an axle remaining stationary at an eccentric position is disclosed. The present invention comprises: the wheel configured such that the outer periphery of an inner rim of the wheel assembled to a wheel hub provided at the axle to which the load is applied applies pressure to a plurality of compressive force elastic bodies provided at the inner periphery of an outer rim of the wheel; and a control roller for pushing the outer rim of the wheel at a gap of a predetermined range such that the axle provided at the wheel hub always remains stationary at the eccentric position of the wheel.

Embodiments of collapsible wheels and methods of making collapsible wheels are generally described herein. Other embodiments may be described and claimed.

Embodiments of collapsible wheels and methods of making collapsible wheels are generally described herein. Other embodiments may be described and claimed.

The invention is embodied in a tire having retractable studs. A driver can activate the studs for driving in icy and/or snowy conditions without manual replacement of all-weather tires to snow or studded tires as well as the installation of snow chains.

The invention can be incorporated in an airless tire vehicle's traction control system and anti-lock brake system (ABS), which the traction control system can activate the retractable studs to add traction on one or more wheels. In addition, this invention provides a better thermal dissipation for airless tires.

The invention is embodied in a tire having retractable studs. A driver can activate the studs for driving in icy and/or snowy conditions without manual replacement of all-weather tires to snow or studded tires as well as the installation of snow chains.

The invention can be incorporated in an airless tire vehicle's traction control system and anti-lock brake system (ABS), which the traction control system can activate the retractable studs to add traction on one or more wheels. In addition, this invention provides a better thermal dissipation for airless tires.