An electric self-balancing vehicle including a top cover, a bottom cover, an inner cover, a rotating mechanism, two wheels, two hub motors, a plurality of sensors, a power supply, and a controller is described herein. The top cover includes a first top cover and a second top cover disposed symmetrically and rotatable relative to each other. The bottom cover is fixed to the top cover and includes a first bottom cover and a second bottom cover disposed symmetrically and rotatable relative to each other. The inner cover is fixed between the top cover and the bottom cover and includes a first inner cover and a second inner cover disposed symmetrically and rotatable relative to each other. The rotating mechanism is fixed between the first inner cover and the second inner cover. The two wheels are rotatably fixed at two sides of the inner cover, respectively. The two hub motors are fixed in the two wheels, respectively. The plurality of sensors is disposed between the bottom cover and the inner cover, respectively. The power supply is fixed between the first bottom cover and the first inner cover. The controller is fixed between the second bottom cover and the second inner cover, the controller is electrically connected with the plurality of sensors, the power supply, and the hub motors, and the controller controls the hub motors to drive the corresponding wheels to rotate according to sensing signals transmitted by the sensors.

A vehicle for uneven terrain includes a main frame; a front wheel assembly disposed in front of the main frame with a front wheel; a rear wheel assembly disposed behind the main frame with a rear wheel; a wheelbase adjuster configured to adjust a wheelbase between the front wheel and the rear wheel; a first side wheel assembly disposed on one side of the main frame with a first side wheel; a second side wheel assembly disposed on another side of the main frame with a second side wheel; a front wheel torque transmitter configured to interlock vertical movements of the front wheel and the first side wheel; a rear wheel torque transmitter configured to interlock vertical movements of the rear wheel and the second side wheel; and a stabilizer configured to support the first side wheel assembly and the second side wheel assembly.

A vehicle for uneven terrain includes a main frame; a front wheel assembly disposed in front of the main frame with a front wheel; a rear wheel assembly disposed behind the main frame with a rear wheel; a wheelbase adjuster configured to adjust a wheelbase between the front wheel and the rear wheel; a first side wheel assembly disposed on one side of the main frame with a first side wheel; a second side wheel assembly disposed on another side of the main frame with a second side wheel; a front wheel torque transmitter configured to interlock vertical movements of the front wheel and the first side wheel; a rear wheel torque transmitter configured to interlock vertical movements of the rear wheel and the second side wheel; and a stabilizer configured to support the first side wheel assembly and the second side wheel assembly.

An autonomous robot comprises: a body, that is elongated along an axis oriented transverse to a direction of movement of the robot and, connected to the elongated body, a multispectral sensor, precisely two wheels, and a stabilizing device for controlling the pitch of the elongated body when the wheels are in motion, the wheels being in the form of spoked wheels.

An autonomous robot comprises: a body, that is elongated along an axis oriented transverse to a direction of movement of the robot and, connected to the elongated body, a multispectral sensor, precisely two wheels, and a stabilizing device for controlling the pitch of the elongated body when the wheels are in motion, the wheels being in the form of spoked wheels.

Various embodiments of transportation devices that have at least two axes of rotation and employ ride balance based drive control are disclosed. One embodiment is a scooter type device with a platform structure movable in fore-aft. The drive motor may be provided at the platform section or drive wheel or be otherwise located. Other embodiments include inline wheeled board embodiments. Yet other embodiments include those utilizing a continuous track. The continuous track embodiments may have two drive motors, among other features.

Various embodiments of transportation devices that have at least two axes of rotation and employ ride balance based drive control are disclosed. One embodiment is a scooter type device with a platform structure movable in fore-aft. The drive motor may be provided at the platform section or drive wheel or be otherwise located. Other embodiments include inline wheeled board embodiments. Yet other embodiments include those utilizing a continuous track. The continuous track embodiments may have two drive motors, among other features.

A vehicle includes a frame including a front frame part and a rear frame part. An elongated single wheel is rotatably connected to one of the front frame part and the rear frame part. The elongated wheel houses an expansion device including a linkage mechanism adapted to reconfigure a shape of the elongated wheel between a cylindrical shape in top view of the vehicle when the vehicle is traveling in a straight direction and a frustoconical shape in top view of the vehicle in a turning condition of the vehicle.

A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.

A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.