System and method for an autonomous robot drivetrain with an actuated bogie

A system to actuate wheels on a vehicle, comprising:

• a bogie having a first end and a second end, the bogie rotatable about a central location between the first end and the second end;
• a first wheel mounted to the first end of the bogie;
• a second wheel mounted to the second end of the bogie;
• a first linear actuator coupled to a first endstop, the first endstop configured to apply pressure to the bogie at a first location when deployed by the first linear actuator;
• and
• a second linear actuator coupled to a second endstop, the second endstop configured to apply pressure to the bogie at a second location when deployed by the second linear actuator,
• wherein the first linear actuator is configured to partially retract the first endstop and fully retract the first endstop, and
• wherein the second linear actuator is configured to partially retract the second endstop and fully retract the second endstop.

A system to actuate wheels on a vehicle, comprising:

• a bogie having a first end and a second end, the bogie rotatable about a central location between the first end and the second end;
• a first wheel mounted to the first end of the bogie;
• a second wheel mounted to the second end of the bogie;
• a first linear actuator coupled to a first endstop, the first linear actuator capable of deploying and retracting the first endstop, the first endstop configured to apply pressure to the bogie at a first location when deployed by the first linear actuator;
• and
• a second linear actuator coupled to a second endstop, the second linear actuator capable of deploying and retracting the second endstop, the second endstop configured to apply pressure to the bogie at a second location when deployed by the second linear actuator,
• wherein the first linear actuator and second linear actuator are configured to independently operate.