An example wheel assembly includes a wheel hub including a first bore having a first central axis, and a wheel including a second bore having a second central axis. The first central axis is offset from the second central axis. The example wheel assembly includes a wheel stud extending through the first bore and the second bore to couple the wheel and the wheel hub. The wheel stud has a first portion proximate to the first bore and a second portion proximate to the second bore. The example wheel assembly includes a wheel nut threaded onto the wheel stud. The first portion of the wheel stud is to move from a first position relative to an axis of rotation of the wheel hub to a second position relative to the axis of rotation when the wheel nut is tightened to fix the wheel to the wheel hub.

A vehicle includes a vehicle body, at least one wheel includes an annular tire that rotates to drive the vehicle body along a main driving direction, a wheel gear disposed on an inner surface of the tire, and an in-wheel actuator that is connected to the wheel gear and that rotates to rotate the tire, and positioning devices that are fixed to the vehicle body and that rotate the at least one wheel relative to the vehicle body to change positions of the at least one wheel relative to the vehicle body, the at least one wheel being coupled to at least one positioning device so as to be rotatable.

Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least two middle wheels and at least two rear wheels. The at least one middle wheel and at least one rear wheel are connected by a tilting lever that is arranged on each of the opposing sides of or to the frame, forming a pair of wheels. Each tilting lever can be turned around a lever bearing located between the respective axial centers of rotation of each pair of wheels.

A one-piece axle comprised of three cylindrical parallel sections: a large end, a center section, and a small end concentric with the large end. The three sections are separated by an eccentric large step, and an eccentric small step. The center section is located between the two steps and is offset from the large and small ends. The center section locates and supports a front wheel of a cycle. The axle is connected to a first split axle housing and a second split axle housing located at the bottom of each of a first fork and a second fork of a cycle respectively, whereby said housings are pinched to form direct rigid and rotationally secured connections between the respective split axle housings and the large and small ends. The position of the front wheel axis of rotation relative to the forks is adjusted by rotating the axle in the split axle housings before the housings are pinched. The axle allows quick and easy adjustments of the front wheel, affecting cycle steering and handling characteristics.

A wheel including a substantially radially rigid rim; a hub for mounting the wheel to an axle; and, a plurality of actuators coupling the hub to the rim, the plurality of actuators being adjustable to control a hub position, the hub position being a position of the hub relative to the rim, and wherein at least some of the plurality of actuators act outside a plane of the rim.

Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least two middle wheels and at least two rear wheels. The at least one middle wheel and at least one rear wheel are connected by a tilting lever that is arranged on each of the opposing sides of or to the frame, forming a pair of wheels. Each tilting lever can be turned around a lever bearing located between the respective axial centers of rotation of each pair of wheels.

Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least two middle wheels and at least two rear wheels. The at least one middle wheel and at least one rear wheel are connected by a tilting lever that is arranged on each of the opposing sides of or to the frame, forming a pair of wheels. Each tilting lever can be turned around a lever bearing located between the respective axial centers of rotation of each pair of wheels.

A vehicle includes a vehicle body, at least one wheel includes an annular tire that rotates to drive the vehicle body along a main driving direction, a wheel gear disposed on an inner surface of the tire, and an in-wheel actuator that is connected to the wheel gear and that rotates to rotate the tire, and positioning devices that are fixed to the vehicle body and that rotate the at least one wheel relative to the vehicle body to change positions of the at least one wheel relative to the vehicle body, the at least one wheel being coupled to at least one positioning device so as to be rotatable.

A one-piece adjustable offset axle has a large end, a concentric small end and an offset center section located between the large and small ends. The center section locates and connects the front wheel of a cycle to two front forks of the cycle. Rotation of the axle within the fork axle housings adjusts the front wheel rotational axis to a plurality of positions relative to the forks. Each front wheel axis position results in a unique combination of steering and handling characteristics for the cycle. The axle is adjusted then fastened and rotationally secured to the forks. The axle allows quick and easy adjustments to the steering and handling characteristics of a cycle. The position of the front brake caliper can be adjusted to correspond with the adjusted front wheel position.

An example wheel assembly includes a wheel hub including a first bore having a first central axis, and a wheel rim including a second bore having a second central axis. The first central axis is offset from the second central axis. The example wheel assembly includes a wheel stud extending through the first bore and the second bore to couple the wheel rim and the wheel hub. The wheel stud has a first portion proximate to the first bore and a second portion proximate to the second bore. The example wheel assembly includes a wheel nut threaded onto the wheel stud. The first portion of the wheel stud is to move from a first position relative to an axis of rotation of the wheel hub to a second position relative to the axis of rotation when the wheel nut is tightened to fix the wheel rim to the wheel hub.