Embodiments provide a pool cleaner with a housing, a first drive wheel positioned along a first side of the housing, and a second drive wheel positioned along a second side of the housing. The pool cleaner also includes a steering system engaged with the first drive wheel and the second drive wheel. The steering system includes a rotating cam with a first cam profile and a second cam profile different from the first cam profile. The steering system drives the housing in a cycle of forward and turn movements by rotating the first drive wheel based on the first cam profile and rotating the second drive wheel based on the second cam profile.

A regenerative differential includes torque members, and a gear assembly that includes a primary gear set and a plurality of secondary gear sets. The primary gear set is configured to transfer torque between the secondary gear sets and first and second torque members. The first secondary gear set transfers torque between the primary gear set and a third torque member. The second secondary gear set transfers torque between the primary gear set and a fourth torque member. The gear assembly is configured to maintain a fixed relationship between torque member rotation velocities 1, 2, 3, and 4, such that 3=M.sub.L.sub.2+.sub.L.sub.1, .sub.4=M.sub.R.sub.2+A.sub.R.sub.1, M.sub.L and .sub.L are functions of a ratio of the first secondary gear set, and M.sub.R and .sub.R are functions of k.sub.R of a ratio of the second secondary gear set.

A continuously variable transmission (CVT) system, which turns the rear wheels of a lawn mower or similar vehicle at different speeds in a coordinated method with the front steering wheels in order to achieve the best turning radius (including a tight or zero turn radius, if desired) under most conditions. The system comprises two stages: the first stage comprising a Fixed Center Distance CVT pulley system, and the second stage comprising dual CVTs (e.g., left and right) that input into dual gear reducers (left and right), which are mechanically connected to the rear wheels. The second stage dual CVTs (left and right) are synchronized with the steering wheel, thus achieving different rear wheel speeds and/or directions based on the steering wheel position.

A drive assembly (140) for a walk-behind, powered device operably couples an engine (110) of the powered device to a mobility assembly (120) to provide mobility of the powered device responsive at least in part to operation of the engine (110). The drive assembly (140) includes a transmission shaft and a mechanical power reversing assembly (150). The transmission shaft selectively receives first drive power or second drive power coupled from the engine (110) to drive a first drivable component (122) and a second drivable component (124) of the mobility assembly (120). The first and second drivable components (122, 124) are disposed substantially at opposing sides of the powered device. The mechanical power reversing assembly (150) is selectively engagable to convert the first drive power generated for the first drivable component (122) into the second drive power provided to the second drivable component (124) and vice versa.

A drive assembly (140) for a walk-behind, powered device operably couples an engine (110) of the powered device to a mobility assembly (120) to provide mobility of the powered device responsive at least in part to operation of the engine (110). The drive assembly (140) includes a transmission shaft and a mechanical power reversing assembly (150). The transmission shaft selectively receives first drive power or second drive power coupled from the engine (110) to drive a first drivable component (122) and a second drivable component (124) of the mobility assembly (120). The first and second drivable components (122, 124) are disposed substantially at opposing sides of the powered device. The mechanical power reversing assembly (150) is selectively engagable to convert the first drive power generated for the first drivable component (122) into the second drive power provided to the second drivable component (124) and vice versa.

A transmission for a vehicle, particularly a skid-steered vehicle, that employs motive power from a prime mover delivered through an input shaft to drive left and right drive shafts at a nominal speed and input power from an electric motor to vary the speed of the left and right drive shafts according to steering commands from a steering control structure. The speed of the left and right drive shafts is directly related to a speed of the input shaft and the nominal speed of the left or right drive shaft is varied upwardly or downwardly by a ratio of the speed of the steering shaft via a speed varying structure. The speed of the left and right drive shafts is simultaneously varied in opposite directions (i.e. upwardly and downwardly) relative to the nominal speed by an equal number of rotations.

A method of controlling a vehicle during a braking operation includes providing a first and a second brake actuator, a brake input device, a steer input device, and a cross-drive transmission having two outputs and a controller. The method includes detecting a first output speed at the first output and a second output speed at the second output, and receiving a brake input request and a steer input request. The method also includes determining a differential output speed based on the first output speed and the second output speed, and comparing the differential output speed to a first threshold, the brake input request to a second threshold, and the steer input request to a third threshold. The method includes determining the first or the second output is locked during the braking operation, and controlling the first or the second brake actuator based on which output is determined to be locked.

A method of controlling a vehicle during a braking operation includes providing a first and a second brake actuator, a brake input device, a steer input device, and a cross-drive transmission having two outputs and a controller. The method includes detecting a first output speed at the first output and a second output speed at the second output, and receiving a brake input request and a steer input request. The method also includes determining a differential output speed based on the first output speed and the second output speed, and comparing the differential output speed to a first threshold, the brake input request to a second threshold, and the steer input request to a third threshold. The method includes determining the first or the second output is locked during the braking operation, and controlling the first or the second brake actuator based on which output is determined to be locked.

A zero turn vehicle having an operator platform at the rear and a compact transmission design featuring a pair of transmissions disposed in a common housing and separate gear boxes permits a smaller, more efficient arrangement for the vehicle.

A self-propelled surface cleaning machine is proposed, including a floor cleaning device, a steerable front wheel, a steering device associated with the front wheel, a rear wheel device having at least one left rear wheel and at least one right rear wheel, a first drive device for driving the front wheel, a second drive device for driving the rear wheel device and a differential device for the rear wheel device that allows different speeds of rotation for the at least one left rear wheel and the at least one right rear wheel.