A robotic vehicle for traversing surfaces is provided. The vehicle is comprised of a chassis supporting a magnetic drive wheel for driving and steering the vehicle and a stabilization mechanism. The magnetic wheel comprises two flux concentrator yokes and an axially magnetized hub extending therebetween. The hub includes a central housing configured to house a sensor probe and enhance the magnetic pull force of the wheel by providing a continuous pathway of high magnetic permeability material for magnetic flux to flow axially through the drive wheel. The stabilization mechanism comprises a front and rear facing support element moveably coupled to the chassis and configured to contact the surface and move symmetrically relative to the chassis thereby maintaining the vehicle and probe normal to the surface and providing stability to the vehicle while traversing surfaces regardless of surface curvature and vehicle orientation.

A vehicle or machine suitable for operation on uneven or inclined surfaces, such as a forest work unit, comprises at least three frame parts and two rotational planes. Each frame part has rotational planes, in each particular case, on an interface between two successive frame parts of the vehicle or machine. The rotational planes are, in each particular case, planes perpendicular to the longitudinal axis of the vehicle or machine in the neutral position. The frame parts are thus arranged to be independently rotatable in relation to the rotational plane.

A robotic work tool system (200) comprising a robotic work tool (100), said robotic work tool (100) comprising two front wheels (130) and a chassis (140), wherein said robotic work tool is characterized in that the two front wheels (130) are arranged on a beam axle (145) being pivotably arranged to the chassis (140).

A system includes a first drive module connected to a first end of a linkage arm and a second drive module connected to a second end of the linkage arm. Two magnetic wheels are connected to each of the first and second drive modules. The first and second drive modules may be independently controlled or controlled using a coordinated controller. The linkage arm may include a first linkage arm portion having at least one degree of freedom with respect to a connected second linkage arm portion, which may be connected via a hinged or ball-joint connection. One or both ends of the linkage arm may have at least one degree of freedom with respect to its respectively connected drive module. Additional linkage arms and drive modules may be connected to form a multi-segment system.