Motor system for vehicle steering and locomotion

A device comprising:

• a frame including a top surface and a bottom surface;
• a plurality of wheels coupled to the bottom surface of the frame, wherein each of the plurality of wheels comprise:
• a steering motor including a first rotor positioned within a first stator, wherein the steering motor is configured to rotate the first rotor about a steering axis, and wherein the first stator is coupled to the bottom surface of the frame;
• a traction motor including a second stator positioned within a second rotor, wherein the second rotor includes a traction surface, wherein the traction motor is configured to rotate the second rotor about a rolling axis, and wherein the traction motor is positioned within an opening in the first rotor;
• and
• an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis;
• and
• a controller configured to operate the steering motor and the traction motor of each of the plurality of wheels in order to cause the device to navigate within an environment.

A method comprising:

• determining, by a control system of a device, a target position of the device;
• operating, by the control system of the device, a plurality of wheels of the device to cause the device to navigate to the target position, wherein each of the plurality of wheels comprises:
• a steering motor including a first rotor positioned within a first stator, wherein the steering motor is configured to rotate the first rotor about a steering axis;
• a traction motor including a second stator positioned within a second rotor, wherein the second rotor includes a traction surface, wherein the traction motor is configured to rotate the second rotor about a rolling axis, and wherein the traction motor is positioned within an opening in the first rotor;
• and
• an axle positioned coaxial to the second rotor and coupled to the first rotor such that the traction motor rotates about the steering axis as the steering motor rotates the first rotor about the steering axis.