Adaptive mobility system

A mobility system for transporting a payload on a surface, comprising:

• a frame for supporting the payload;
• a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface;
• and
• at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface, the articulated limb being rotatable about a substantially vertical axis and articulable to position the distal end at a location forward and a location rearward of the locomotion members.

A wheelchair, comprising;

• a frame having first and second side members and a seat supported therebetween;
• a pair of front wheels mechanically connected to said frame and rotatable about a first axis and a pair of rear wheels mechanically connected to said frame and rotatable about a second axis, said front and rear wheels being supported upon a surface;
• first and second articulated limbs comprising a first segment rotatably connected to a second segment by an articulated joint and having a proximal end, said proximal end of the first articulated limb being rotatably connected to said first side member and said proximal end of the second articulated limb being rotatably connected to said second side member, each of the first and second articulated limbs having a distal end for contacting said surface to provide a tractive force between said wheelchair and said surface;
• a first electric motor electromechanically coupled to said first segment of each of said first and second articulated limbs for actuating said first segment and a second electric motor electromechanically coupled to said second segment of each of said first and second articulated limbs for actuating said second segment;
• and
• a platform rotatably connected to each of said first and side members, each of said first and second articulated limbs and a corresponding one of said first and second electric motors mounted on a corresponding one of said platforms.

A mobility system for transporting a payload on a surface, comprising:

• a frame for supporting the payload;
• a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface;
• at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface;
• and
• at least one actuator platform rotatably connected to said frame, the proximal end of at least one of said articulated limbs rotatably connected to the platform.

A mobility system for transporting a payload on a surface, comprising:

• a frame for supporting the payload;
• a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface;
• and
• at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface, wherein said articulated limb articulates in three degrees of freedom.