Wheeled Platforms

Abstract

A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132 , each body portion 130, 132 having first and second sides 106, 108 . Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108 . The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

1 - 56 . (canceled) 
     
     
         57 . A mobile robot comprising:
 a body;   right and left sets of forward and rearward wheels rotatably coupled to corresponding sides of the body, at least one wheel of each set of wheels driven to propel the mobile robot;   an articulation element disposed substantially within a radius of the forward wheels or within a radius of the rearward wheels;   a non-articulated element extending from a first end pivotally coupled to the body by the articulation element and terminating at a second end configured to contact a step of a stairway; and   a drive module coupled to the element to control the movement of the element between a first, stowed position wherein the second end of the element is pivoted aft the body above the plane defined by the wheels and a second, non-stowed position where the element can make selective contact with a step of a stairway;   wherein the element is configured to contact a first step of the stairway and lift the first end wheel to attain the first step.   
     
     
         58 . The mobile robot of  claim 57 , wherein to make selective contact with a stairway, the non-articulated element is pivotable through a continuous range of articulated positions about the articulation element. 
     
     
         59 . The mobile robot of  claim 57 , wherein the non-articulated element can make selective contact with a trailing step of the stairway. 
     
     
         60 . The mobile robot of  claim 57 , wherein the articulation element is a hinge. 
     
     
         61 . The mobile robot of  claim 57 , wherein the articulation element is a pivot. 
     
     
         62 . The mobile robot of  claim 57 , wherein the articulation element is a flexible body portion. 
     
     
         63 . The mobile robot of  claim 57 , wherein the non-articulated element is straight. 
     
     
         64 . The mobile robot of  claim 57 , wherein when the non-articulated element is pivoted furthest forward with respect to the body, the non-articulated element is long enough to contact a stairway step forward of the first end wheel. 
     
     
         65 . The mobile robot of  claim 57 , wherein the drive module comprises a pivoting motor disposed between a top and a bottom of the wheels 
     
     
         66 . A mobile robot comprising:
 a body having first and second ends;   right and left sets of forward and rearward wheels rotatably coupled to corresponding sides of the body, at least one wheel of each set of wheels driven to propel the mobile robot;   an articulation element disposed substantially within a radius of the forward wheels or within a radius of the rearward wheels;   a non-articulated element extending from a first end pivotally coupled to the body by the articulation element and terminating at an second end configured to contact a step of a stairway; and   a drive module coupled to the element to control the movement of the element between a first, stowed position and a second, non-stowed position where the second end of the element can make selective contact with a step of a stairway;   wherein the non-articulated element is configured to rotate between a first position extending below the first end of the body and a second position extending past the opposite, second end of the body.   
     
     
         67 . The mobile robot of  claim 66 , wherein to make selective contact with a stairway, the non-articulated element is pivotable through a continuous range of articulated positions about the articulation element. 
     
     
         68 . The mobile robot of  claim 65 , wherein the non-articulated element can make selective contact with a trailing step of the stairway. 
     
     
         69 . The mobile robot of  claim 65 , wherein the articulation element is a hinge. 
     
     
         70 . The mobile robot of  claim 65 , wherein the articulation element is a pivot. 
     
     
         71 . The mobile robot of  claim 65 , wherein the articulation element is a flexible body portion. 
     
     
         72 . The mobile robot of  claim 65 , wherein the non-articulated element is straight. 
     
     
         73 . The mobile robot of  claim 57 , wherein the drive module comprises a pivoting motor disposed between a top and a bottom of the wheels