Hinged vehicle chassis

A robotic vehicle chassis, comprising:

• a first chassis section;
• a second chassis section;
• a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction;
• a drive wheel mounted to one of the first and second chassis sections, wherein the drive wheel includes a single hub, and wherein the drive wheel has a curvature such that the single hub contacts the surface at a single point;
• an omni-wheel mounted to the other of the first and second chassis sections;
• the omni-wheel being mounted at an angle orthogonal with respect to the drive wheel;
• at least a first magnet connected to at least the drive wheel or the chassis section to which the drive wheel is mounted;
• and
• at least a second magnet connected to at least the omni-wheel or the chassis section to which the omni-wheel is mounted,
• wherein the at least first and second magnets maintain an attractive force between the first chassis section and the surface and the second chassis section and the surface, respectively, wherein the surface is ferromagnetic,
• wherein the hinge joint rotates in response to the curvature of a surface the vehicle is traversing.

A robotic vehicle chassis, comprising:

• a first chassis section;
• a second chassis section;
• a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction;
• at least one rotation stop positioned to prevent undesired rotation about the hinge joint;
• a drive wheel mounted to the first chassis section;
• an omni-wheel mounted to the second chassis section, the omni-wheel being mounted at an angle orthogonal with respect to the drive wheel;
• at least a first magnet connected to at least the drive wheel or the first chassis section;
• and
• at least a second magnet connected to at least the omni-wheel or the second chassis section,
• wherein the at least first and second magnets maintain an attractive force between the first chassis section and the surface and the second chassis section and the surface, respectively, wherein the surface is ferromagnetic,
• wherein the hinge joint rotates in response to the curvature of a surface the vehicle is traversing.