公开(公告)号：US09989970B1

公开(公告)日：2018-06-05

申请号：US15226997

申请日：2016-08-03

Applicant: X Development LLC

Inventor： Christopher Morey ,  Adam Horton ,  David Youmans

IPC: G05D1/02 ,  B25J9/16 ,  B25J5/00 ,  B62D57/02 ,  B60B19/04 ,  A61G5/06

CPC classification number: G05D1/0246 ,  B25J9/1697 ,  B62D57/022 ,  B62D57/024 ,  Y10S901/01

Abstract: Robotic vehicles and methods described herein relate to robot navigation, physical configuration, and obstacle avoidance. An example robotic vehicle includes a chassis and a sensor coupled to the chassis. Furthermore, the robotic vehicle includes a plurality of multi-wheels coupled to the chassis. As such, each multi-wheel is configured to rotate about a primary axis of rotation. Each multi-wheel includes a plurality of rotatable wheel elements and each rotatable wheel element is configured to rotate about a respective secondary axis of rotation. The robotic vehicle includes an actuator configured to extend or retract at least one rotatable wheel element such that a position of at least one rotatable wheel element is adjustable relative to the primary axis of rotation. Yet further, the robotic vehicle includes a motor configured to drive the rotatable wheel elements about their respective secondary axes of rotation and drive the respective multi-wheels about their primary axes.