Reversible variable drives and systems and methods for control in forward and reverse directions

A continuously variable transmission (CVT) having a central axis, the CVT comprising a plurality of planet assemblies configured for transferring power between first and second traction rings, each planet assembly fixed in its radial position by the first and second traction rings and a sun, each of the plurality of planet assemblies comprising a spherical planet coupled to a planet axle, the planet axle defining an axis of rotation for its respective planet, each planet axle capable of tilting in a first skew plane, a skew angle defined as an angle between the central axis and the planet axle, and in a second tilting plane defining a tilt angle as the angle between the central axis and the planet axle, wherein the tilt angle defines a transmission ratio of the transmission, the CVT further comprising:

• a first carrier half coaxial with and rotatable about the central axis, the first carrier half coupled by a plurality of links to a first end of each of the planet axles;
• and
• a second carrier half coaxial with and rotatable about the central axis, the second carrier half coupled by a plurality of links to a second end of each of the planet axles,
• wherein the first carrier half and second carrier half are rotatable with respect to each other to define an angular position, and
• wherein relative rotation of the first and second carrier halves defines a non-zero angular position that imparts a non-zero skew angle, and wherein a non-zero skew angle imparts an adjustment to the tilt angle, resulting in a change in the transmission ratio of the CVT.