# US 11,305,816 B2 · Deployable quad vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,816 B2 - Document ID: US11305816B2 - Status: Granted - Kind: B2 - Application number: 16/384,291 - Filed: 2019-04-15 - Published: 2020-10-15 - Granted: 2022-04-19 - Earliest claimed: 2019-04-15 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Ricky Jukuei Hsu; Michael Mcgee - Web page: https://patentgrep.com/patent/US11305816B2 ## CPC - B62D 9/002: {combined with means for differentially distributing power on the deflectable wheels during cornering} - B60G 3/14: the arm being rigid - B60G 17/005: Suspension locking arrangements {(for retractable wheels B62D61/12)} - B60K 7/00: Disposition of motor in, or adjacent to, traction wheel - B60K 7/0007: {the motor being electric} - B62D 1/02: vehicle-mounted - B62D 61/12: with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels (for manoeuvring purposes only B60S) - B62K 15/008: {foldable about 2 or more axes} - B60G 2200/132: with a single trailing arm - B60G 2202/40: Type of actuator - B60G 2204/46: Means for locking the suspension - B60G 2300/07: Off-road vehicles - B60G 2300/124: Quads - B60G 2300/45: Rolling frame vehicles - B60G 2300/50: Electric vehicles; Hybrid vehicles - B60G 2500/30: Height or ground clearance - B60G 2600/20: Manual control or setting means - B60K 17/356: having fluid or electric motor, for driving one or more wheels - B60K 17/358: {all driven wheels being steerable} - B60K 2007/0038: {the motor moving together with the wheel axle} - B60K 2007/0092: {the motor axle being coaxial to the wheel axle} - B60Y 2200/124: Buggies, Quads - B60Y 2200/43: Variable track or wheelbase vehicles - B62J 1/12: Box-shaped seats; Bench-type seats, e.g. dual or twin seats - B62J 25/06: Bar-type foot rests - B62J 45/416: Physiological sensors, e.g. heart rate sensors - B62K 5/01: Motorcycles with four or more wheels (specially adapted for disabled riders B62K5/003) - B62K 21/18: Connections between forks and handlebars or handlebar stems - B62K 2204/00: Adaptations for driving cycles by electric motor - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - B62J: CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS ## Abstract The disclosure provides an electric quad vehicle, a control system, and method of operation. The electric quad vehicle may include a central hub and four legs, each pivotably mounted to the central hub, each leg including an electric motor rotatably coupled to a wheel. Each leg may include a joint allowing the leg to bend to a retracted state with the wheel adjacent the central hub. The electric quad vehicle may include handle bars extending from the central hub including rider controls of acceleration and steering. The electric quad vehicle may include a control system configured to translate rider input to the rider controls into control signals for each of the electric motors. ## Claims ### Claim 1 An electric quad vehicle, comprising: a central hub; four legs, each pivotably mounted to the central hub, each leg including an electric motor rotatably coupled to a wheel, wherein each leg includes a respective joint between the central hub and the wheel allowing the leg to bend to a retracted state with the wheel adjacent to the central hub; handle bars extending from the central hub including rider controls of acceleration and steering; and a control system configured to translate rider input to the rider controls into control signals for each of the electric motors. ### Claim 2 (depends on 1) The electric quad vehicle of claim 1, wherein the handle bars fold to a location within the central hub. ### Claim 3 (depends on 1) The electric quad vehicle of claim 1, further comprising a power source located within the central hub. ### Claim 4 (depends on 1) The electric quad vehicle of claim 1, wherein the central hub allows horizontal and vertical pivoting of each leg. ### Claim 5 (depends on 1) The electric quad vehicle of claim 1, wherein the central hub exerts a downward rotational force on each leg. ### Claim 6 (depends on 5) The electric quad vehicle of claim 5, wherein the downward rotational force is electrically variable via a respective electronic actuator or motor coupled to the central hub and the leg that controls the downward rotational force. ### Claim 7 (depends on 1) The electric quad vehicle of claim 1, wherein each joint locks in an extended state during use of the electric quad vehicle and bends to an acute angle when the electric quad vehicle is in the retracted state. ### Claim 8 (depends on 1) The electric quad vehicle of claim 1, wherein the control system is configured to lock the respective joint prior to generating the control signals for each of the four drive motors based on at least the input signals. ### Claim 9 (depends on 1) The electric quad vehicle of claim 1, further comprising a saddle covering the central hub, the saddle including a seat and two flexible extensions on opposite sides of the central hub that support a respective foot support. ### Claim 10 (depends on 9) The electric quad vehicle of claim 9, wherein the saddle includes a sensor that detects a stress level of a rider, wherein the controller is configured to adjust the control signals based on the stress level of the rider. ### Claim 11 (depends on 1) The electric quad vehicle of claim 1, wherein the wheels are mechanically fixed in a forward orientation, and wherein the control system is configured to steer the electric quad vehicle by providing different control signals to each of the electric motors. ### Claim 12 A method of operating an electric quad vehicle, comprising: controlling actuators located at a central hub to extend a respective leg segment coupled to a respective wheel downward and outward from the central hub; generating control signals to drive a forward pair of the drive motors in a forward direction and a rear pair of the drive motors in a reverse direction to extend a respective joint between the respective leg segment and the respective wheel; receiving input signals from rider controls indicating a relative acceleration amount and a relative steering amount; generating control signals for each of four drive motors based on at least the input signals; and controlling a power output to each of the four drive motors according to the respective control signal. ### Claim 13 (depends on 12) The method of claim 12, further comprising: detecting a stress level of a rider; and adjusting the control signals based on the stress level of the rider. ### Claim 14 (depends on 12) The method of claim 12, further comprising locking the respective joint prior to generating the control signals for each of the four drive motors based on at least the input signals. ### Claim 15 (depends on 12) The method of claim 12, further comprising controlling the actuators to exert a variable downward rotational force on each leg in response to movement of the central hub. ### Claim 16 (depends on 12) The method of claim 12, further comprising controlling actuators located at a central hub to retract a respective leg segment coupled to a respective wheel upward and inward from the central hub. ### Claim 17 A vehicle control system for an electric quad vehicle comprising: a memory; a processor communicatively coupled to the memory and configured to: control actuators located at a central hub to extend a respective leg segment coupled to a respective wheel downward and outward from the central hub; generate control signals to drive a forward pair of the drive motors in a forward direction and a rear pair of the drive motors in a reverse direction to extend a respective joint between the respective leg segment and the respective wheel; receive input signals from a rider indicating a relative acceleration amount and a relative steering amount; generate control signals for each of four drive motors based on at least the input signals; and control a power output to each of the four drive motors according to the respective control signal. ### Claim 18 (depends on 17) The vehicle control system of claim 17, wherein the processor is further configured to lock the respective joint prior to generating the control signals for each of the four drive motors based on at least the input signals.