Statically stable robot using wheel with inner system
AssigneeThe University of Sydney
InventorsMark Calleija, Salah Sukkarieh
Life of this patent
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Abstract
The invention relates to a vehicle including a chassis and a pair of wheels supported in spaced apart relationship by the chassis for rotation about a common axis. A pair of drive modules is associated with the respective wheels. The drive modules and the chassis are connected for rotation as a sub-assembly relative to the wheels about the common axis with the centre of mass of the sub-assembly below the common axis in a static equilibrium position. Each of the drive modules is housed substantially within the respective wheel.
Claims18
A vehicle including a chassis, a pair of wheels supported in spaced apart relationship by the chassis for rotation about a common axis, and a pair of drive modules associated with the respective wheels,
- wherein the drive modules and the chassis are connected for rotation as a sub-assembly relative to the wheels about the common axis with the centre of mass of the sub-assembly below the common axis in a static equilibrium position,
- wherein each of the drive modules is housed substantially within the respective wheel, and
- wherein the centres of mass of the drive modules in the static equilibrium position are disposed substantially below the common axis, to counterbalance the chassis and thereby allow the centre of mass of the chassis and any associated payload to be stably positioned substantially above the common axis.
Dependencies are inferred from the claim text.