An omnidirectional wheel and a three-wheeled vehicle using the same are provided. The omnidirectional wheel includes a tire that is formed in the shape of an open torus having an open portion and a main rotation unit that is connected to the tire to rotate the tire about a main rotation axis passing through the center of an inner opening formed in a circular hole shape by the tire. A circumferential rotation unit connects opposite ends of the tire that form the open portion therebetween and rotates the tire about a circumferential axis formed in a circumferential direction of the tire to move the tire in a direction parallel to the main rotation axis.

An omnidirectional wheel and a three-wheeled vehicle using the same are provided. The omnidirectional wheel includes a tire that is formed in the shape of an open torus having an open portion and a main rotation unit that is connected to the tire to rotate the tire about a main rotation axis passing through the center of an inner opening formed in a circular hole shape by the tire. A circumferential rotation unit connects opposite ends of the tire that form the open portion therebetween and rotates the tire about a circumferential axis formed in a circumferential direction of the tire to move the tire in a direction parallel to the main rotation axis.

A representative system includes a personal transportation device with: first and second wheels aligned along an axis; an idler wheel rearward of the axis; a platform configured to support a user in a standing position; electric motors to drive the first and second wheels; first and second hand grips fixed in position at respective locations forward of the platform; and first and second control actuators disposed, respectively, on the first and second hand grips, the first and second control actuators being operative to control rotations of the first and second wheels and configured to be actuated by corresponding thumbs of the user while hands of the user are grasping corresponding ones of the first hand grip and the second hand grip.

A representative system includes a personal transportation device with: first and second wheels aligned along an axis; an idler wheel rearward of the axis; a platform configured to support a user in a standing position; electric motors to drive the first and second wheels; first and second hand grips fixed in position at respective locations forward of the platform; and first and second control actuators disposed, respectively, on the first and second hand grips, the first and second control actuators being operative to control rotations of the first and second wheels and configured to be actuated by corresponding thumbs of the user while hands of the user are grasping corresponding ones of the first hand grip and the second hand grip.

A resisting force change mechanism includes a first portion and a second portion configured to change a resisting force against relative displacement. The first portion is supported on any one of a first side member, a second side member, a first cross member, and a second cross member of a link mechanism where at least a portion thereof is superposed on one member at all times. The first portion is aligned with the one member and a steering shaft at the front. The second portion is supported on any other one of the body frame, the first side member, the second side member, the first cross member, and the second cross member that is displaced relative to the one member on which the first portion is supported. The second portion is located at a position where at least a portion thereof is superposed on the other member at all times.

A resisting force change mechanism includes a first portion and a second portion configured to change a resisting force against relative displacement. The first portion is supported on any one of a first side member, a second side member, a first cross member, and a second cross member of a link mechanism where at least a portion thereof is superposed on one member at all times. The first portion is aligned with the one member and a steering shaft at the front. The second portion is supported on any other one of the body frame, the first side member, the second side member, the first cross member, and the second cross member that is displaced relative to the one member on which the first portion is supported. The second portion is located at a position where at least a portion thereof is superposed on the other member at all times.

A vehicle includes a left front wheel, a right front wheel, and a rear wheel that tilt together with a body frame, wherein, while a large capacity of a fuel tank is ensured, a variation in the center-of-gravity position of the vehicle while driving is small. When viewed in a side view with the body frame in an upright position, the fuel tank is disposed between a first center and a second center, the first center being located between a third center and right and left front wheel ground contacting portions, the second center being located between the third center and a rear wheel ground contacting portion, the third center being located between the right and the left front wheel ground contacting portions and the rear wheel ground contacting portion.

A vehicle includes a left front wheel, a right front wheel, and a rear wheel that tilt together with a body frame, wherein, while a large capacity of a fuel tank is ensured, a variation in the center-of-gravity position of the vehicle while driving is small. When viewed in a side view with the body frame in an upright position, the fuel tank is disposed between a first center and a second center, the first center being located between a third center and right and left front wheel ground contacting portions, the second center being located between the third center and a rear wheel ground contacting portion, the third center being located between the right and the left front wheel ground contacting portions and the rear wheel ground contacting portion.

A vehicle of the present disclosure may include at least one pair of opposing wheels coupled to a tiltable central chassis by a four-bar linkage or the like, such that the wheels are configured to tilt in unison with the central chassis. A steering actuator and/or a tilting actuator may be discretely controllable by an electronic controller of the vehicle. The controller may include processing logic configured to maintain alignment between a median plane of the chassis and a net force vector caused by gravity and any induced centrifugal forces. Various control algorithms may be utilized to steer the vehicle along a desired path, either autonomously or semi-autonomously.

A brake controlling operation transmission member includes a leaning-associated deforming portion that deforms in response to turning of a body frame. A vehicle includes at least a portion of the leaning-associated deforming portion located between a first restrictor located below a lower cross portion in relation to an up-and-down direction of the body frame and a central portion in a left-and-right direction of the body frame so as to prevent movement of the brake controlling operation transmission member and a brake device.