Chassis for robotic vehicle

A chassis assembly associated with a robotic vehicle, the chassis assembly comprising:

• a first actuator motor operatively coupled to a first wheel;
• a second actuator motor operatively coupled to a second wheel;
• a control unit operatively connected to the first actuator motor and the second actuator motor, the control unit being configured to:
• receive a motion command indicative of a desired turning curvature for the robotic vehicle;
• determine a first operating parameter for a first actuator motor of the chassis assembly based on the motion command, the first operating parameter being indicative of a torque to be generated by the first actuator motor, the first actuator motor being operatively coupled to a first wheel of the chassis assembly;
• determine a second operating parameter for a second actuator motor of the chassis assembly based on the motion command, the second operating parameter being indicative of a torque to be generated by the second actuator motor, the second actuator motor being operatively coupled to a second wheel of the chassis assembly;
• determine a first speed of the first wheel based on the first operating parameter;
• and
• determine a second speed of the second wheel based on the second operating parameter.

A chassis assembly associated with a robotic vehicle, the chassis assembly comprising:

• a wheel assembly, including:
• a first front wheel and a first back wheel, located on one side of the chassis assembly;
• a second front wheel and a second back wheel, located on a second side of the chassis assembly;
• a steering assembly, including:
• a first actuator motor associated with one of the first front wheel and the first back wheel;
• a second actuator motor associated with one of the second front wheel and the second back wheel;
• a linking assembly, including:
• a first linking structure operatively coupling the first front wheel and the first back wheel for translating rotational motion of the one of the first front wheel and the first back wheel to the other one of the first front wheel and the first back wheel;
• a second linking structure operatively coupling the second front wheel and the second back wheel for translating rotational motion of the one of the second front wheel and the second back wheel to the other one of the second front wheel and the second back wheel.