# US 8,905,490 B2 · Wheel and wheel assembly > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,905,490 B2 - Document ID: US8905490B2 - Status: Granted - Kind: B2 - Application number: 12/749,386 - Filed: 2010-03-29 - Published: 2011-09-29 - Granted: 2014-12-09 - Earliest claimed: 2010-03-29 - Assignees: Robosynthesis Limited - Applicants: Philip Norman - Inventors: Philip Norman - Web page: https://patentgrep.com/patent/US8905490B2 ## CPC - B60B 11/02: Units of separate wheels mounted for independent or coupled rotation - B60Y 2200/48: Stair-climbing vehicles - B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A wheel assembly and a wheel are suitable for use with a mobile platform. The wheel assembly comprising a first wheel and a second wheel, each wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, where the first wheel is rotatably mounted to the second wheel on a common axis, and a control mechanism rotates the first wheel with respect to the second wheel. ## Claims ### Claim 1 A wheel assembly for a mobile platform, the wheel assembly comprising: a first wheel and a second wheel, each wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the first wheel is rotatably mounted to the second wheel at the same end of an axle, and the central axes of rotation of the first and second wheels are coaxial and so define a common axis; a control mechanism for adapting the wheel assembly by rotating the first wheel with respect to the second wheel around the common axis. ### Claim 2 (depends on 1) The wheel assembly of claim 1, wherein the wheel lobes each have a curved edge around a region of the lobe edge furthest away from the hub. ### Claim 3 (depends on 1) The wheel assembly of claim 1, wherein the wheel lobes each define a convex curved surface at one side of the wheel assembly. ### Claim 4 (depends on 3) The wheel assembly of claim 3, wherein the convex surfaces of the wheel lobes of the first wheel lie substantially on a first common ellipsoidal surface, and the convex surfaces of the wheel lobes of the second wheel lie substantially on a second common ellipsoidal surface. ### Claim 5 (depends on 3) The wheel assembly of claim 3, wherein the convex curved surfaces of the first wheel substantially faces the direction of the corresponding convex curved surfaces of the second wheel. ### Claim 6 (depends on 3) The wheel assembly of claim 3, wherein the convex curved surface of the first wheel faces the convex curved surface of the second wheel. ### Claim 7 (depends on 1) The wheel assembly of claim 1 further comprising a stem member mounted to each wheel lobe, wherein the stem member couples the wheel lobe to the hub. ### Claim 8 (depends on 7) The wheel assembly of claim 7, wherein the stem member is rotatably mounted to the hub, and is rotatable about an axis of rotation that is non-parallel to the common axis. ### Claim 9 (depends on 7) The wheel assembly of claim 7, wherein each stem member is narrower than the corresponding wheel lobe, when projected parallel to the common axis. ### Claim 10 (depends on 7) The wheel assembly of claim 7, wherein each stem member comprises a resilient material. ### Claim 11 (depends on 1) The wheel assembly of claim 1, wherein each of the wheel lobes comprises a movable extension lobe such that the extension lobe is movable radially from the hub. ### Claim 12 (depends on 1) The wheel assembly according to claim 1, further comprising a revolute mechanism that is coaxially coupled to the hub, the revolute mechanism comprising an annular housing, one or more annular sections within the annular housing, and for each annular section a compliance member movably located therein, wherein the annular section and corresponding compliance member include a biasing mechanism that biases the compliance member away from end faces of the annular section. ### Claim 13 (depends on 1) A mobile platform including the wheel assembly according to claim 1. ### Claim 14 A wheel for a mobile platform, the wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the wheel lobes each have a curved edge around a region of the wheel lobe edge furthest away from the hub, further comprising a revolute mechanism that is coaxially coupled to the hub; further comprising a stem member mounted to each wheel lobe, wherein the stem member couples the wheel lobe to the hub; wherein the stem member is rotatably mounted to the hub, and is rotatable about an axis of rotation that is non-parallel to a common axis. ### Claim 15 A wheel for a mobile platform, the wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the wheel lobes each have a curved edge around a region of the wheel lobe edge furthest away from the hub, further comprising a revolute mechanism that is coaxially coupled to the hub; further comprising a stem member mounted to each wheel lobe, wherein the stem member couples the wheel lobe to the hub; wherein each stem member is narrower than the corresponding wheel lobe, when projected parallel to a common axis. ### Claim 16 A wheel for a mobile platform, the wheel comprising a hub having a central axis of rotation and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the wheel lobes each have a curved edge around a region of the wheel lobe edge furthest away from the hub, further comprising a revolute mechanism that is coaxially coupled to the hub; wherein the revolute mechanism comprising an annular housing, one or more annular sections within the annular housing, and for each annular section a compliance member movably located therein, wherein the annular section and corresponding compliance member include a biasing mechanism that biases the compliance member away from end faces of the annular section.