Multi-axially force/torque controlled rotating leg assemblies for a vehicle drive and suspension are disclosed herein. In some instances, the assemblies may include a chassis, a first hub rotatably attached to the chassis, and a first rotary actuator mechanically connected to the first hub. The first rotary actuator is configured rotate the first hub. The assemblies also may include a plurality of first rods moveably attached to the first hub and a plurality of first linear actuators. Each first rod of the plurality of first rods comprises a first linear actuator of the plurality of first linear actuators mechanically connected thereto. The first linear actuator is configured to extend and retract the first rod.

A two wheeled throwable robot comprises an elongate chassis with two ends, a motor at each end, drive wheels connected to the motors, and a tail extending from the elongate chassis. A rear portion having a deep recess securing the pair of motors with brackets, and batteries with brackets. The forward part having a shallow recess with a printed circuit board secured therein having control circuitry. The wheels are less than six inches in diameter and the robot weighs less than five pounds.

A giant six-legged polar research vehicle with tracked feet, including a platform, six legs arranged at six ends of the platform and six tracked feet arranged below the six legs. A monitoring device is arranged on a top cover. Six power compartments each having a steering device are arranged at six ends of a chassis in the platform. Each leg includes a main traveling device with an upper end and a lower end respectively connected to the steering device and a tracked foot, an auxiliary traveling device with an upper end and a lower end respectively connected to the chassis and the main traveling device, and a connecting device arranged on the main traveling device. The tracked foot includes a main flipping mechanism, an auxiliary flipping mechanism, a tracked foot slewing device, a crawler, a sliding plate and a suspension.

A system may include a vehicle having a storage area and a guide rail configured to extend from the storage area. The system may further include a robot having a support portion comprising a placement surface and a base. The robot may also include a plurality of descendible wheels. The robot may also further include a plurality of legs, each connecting the support portion to one of the plurality of descendible wheels.

A system and method for an articulated hybrid wheel made of an array of identical individual segments forming adjustable limbs which can function independently and in unison to provide the spokes of the wheel for smooth travel over flat terrain with the added advantage of transitioning its shape for greater traction, approach angle, and reach when negotiating vertical change in terrains in an inherently efficient, stable, and robust format.

An alignment assembly is coupled between a steering assembly and a support foot to maintain an alignment of the support foot with the load transport assembly while the steering mechanism rotates in different steering directions. A biasing device activates in response to non-linear displacements of the load transport assembly relative to the support foot and moves the steering assembly and the support foot back into original alignments with the load transport assembly. The alignment assembly may include a lower main gear assembly that rotates the support foot relative to the steering assembly and an upper main gear assembly that rotates the steering assembly relative to the load transport assembly.

A robotic platform may include a chassis, left and right wheel assemblies, and a controller. The left and right wheel assemblies may include a caster wheel, a motor, a shaft, and a bevel gear. The wheel may be mounted to an axle for rotation about a drive axis and steering about a steering axis. The drive shaft may have one end coupled to the axle and another end wrapped by a respective belt to control rotation of the shaft about the steering axis. The bevel gear may couple the shaft to the axle so rotation of the shaft about the steering axis controls rotation of the wheel about the drive axis to drive the platform in a substantially horizontal direction. The controller may control the left and right drive motors independently, to provide differential drive. Various other assemblies, robots, and methods are also disclosed.

A control system retracts lifting devices to a stored reset height during a reset operation to raise support feet off of a base surface. The control device raises a load to a stored moving height above the base surface during a moving operation. The control system automatically repeats the reset and moving operations using the stored reset and stored moving heights. The control device may receive an adjustment signal identifying anew height of the support feet or load bearing frame above the base surface and uses the new height during subsequent reset or moving operations. The control device may default to a minimum reset height or a minimum moving height when the new height would cause the support feet or load bearing frame to drag on the base surface.

A mobile entity includes: a position decision unit configured to determine a position of itself; an environment information acquisition unit configured to acquire environment information at the position; and a motion determination unit configured to determine whether a motion scheduled to be performed holds based on the environment information. The environment information includes at least one of environment information related to a vocal apparatus and environment information related to a display device.

The present invention belongs to the field of robots, and relates to a soft ground crawling robot. Front wheels are connected on both sides of the front end of a body shell; a universal wheel is arranged on the rear end; rotary stepping motors are installed on both sides of a supporting assembly; an output shaft of the rotary stepping motor on each side passes through the body shell and then is connected with the front wheel on the same side; a swinging stepping motor is installed on the supporting assembly; the output shaft is connected with a connecting plate; the connecting plate is connected with the body shell through a connecting shaft; the body shell is driven to swing by the swinging stepping motor; lower end covers are rotatably connected on both sides of the body shell; a wheel bracket is connected to the rotary stepping motor on each side; and the wheel bracket on each side is connected with the lower end cover on the same side. The crawling robot of the present invention can crawl on all soft ground while moving in a plane, and overcome the phenomenon that some existing crawling robots cannot walk and work on the soft ground such as sand due to sinking.