Virtual-wheeled vehicle

1. A method of propelling a vehicle comprising:

configuring a land vehicle with a plurality of virtual wheels, each virtual wheel comprising a leg pair configured to simulate a single conventional wheel, wherein each leg of the pair includes a curved foot that engages with the underlying surface as would a wheel;

supplying a control signal to a controller on said vehicle, said control signal having embodied therein machine-readable instructions for activating said leg pairs in a coordinated manner;

under the control of said controller, applying motive force to the leg pairs through a plurality of actuators to cause a reciprocating, stepping motion from said leg pairs; and

propelling said vehicle over said surface through engagement of the feet with the underlying surface;

wherein said virtual wheels provide a large effective diameter without producing a high vehicle profile.

2. The method of claim 1 , wherein said step of configuring a land vehicle with a plurality of virtual wheels comprises any of the steps of:

providing said virtual wheels in any of two-wheeled, three-wheeled, four-wheeled and six-wheeled configurations;

mounting at least two of said virtual wheels in transverse pairs on a common axle;

mounting at least two of said virtual wheels in a staggered configuration; and

mounting at least two of said virtual wheels in an in-line configuration.

3. The method of claim 1 , wherein said step of configuring a land vehicle with a plurality of virtual wheels comprises:

providing three virtual wheels, wherein each of the legs of a virtual wheel step in a common direction, and wherein a first two of said three virtual wheels are mounted in single plane relative to a centerline of said vehicle and wherein said common direction pivots freely relative to said center line for each of said first two virtual wheels; and

wherein a remaining third of said three virtual wheels is offset from said first two and wherein said direction is stationary relative to said center line.

4. The method of claim 1 , wherein said step of configuring a land vehicle with a plurality of virtual wheels comprises any of the steps of:

providing at least one leg that is jointed at the knee;

providing at least one leg having the foot attached to the leg by means of a joint, wherein said foot pivots relative to said leg;

providing at least one leg with shock absorbers;

providing at least one foot that defines an arc of a circle;

providing at least one foot having curved footpads; and

providing scimitar feet.

5. The method of claim 1 , wherein said vehicle comprises any of:

a two-wheeled vehicle;

a two-wheeled robot;

a robotic mule; and

a payload-carrying vehicle.

6. The method of claim 1 , wherein said step of supplying a control signal comprises:

providing a program of machine-readable instructions for control of said vehicle;

executing said instructions by means of a processing element;

delivering said instructions to said controller; and

controlling said vehicle by said controller according to said instructions.

7. The method of claim 6 , wherein said step of providing a program of machine-readable instructions for control of said vehicle comprises:

providing a central pattern generator;

generating waveforms that activate the leg pairs in a coordinated manner, wherein said wave forms control lift and swing in individual legs;

generating control signals for said actuators, said actuators comprising servomotors associated with said legs, wherein said instructions control parameters that include any of: body swing, ride height, and step length;

generating macro commands that carry out standard tasks including: starting, stopping and turning;.

8. The method of claim 6 , wherein executing said instructions by means of a processing element comprises:

executing said instructions on any of an off-board and an on-board processor; and

supplying a control signal to said controller by said processing element, said control signal having embodied therein machine-readable instructions.

9. The method of claim 6 , wherein supplying said control signal having embodied therein machine-readable instructions comprises any of:

delivering said signal from said processing element to said controller wirelessly;

delivering said signal from said processing element to said controller over a wired connection.

10. The method of claim 1 , wherein supplying a control signal comprises:

manually generating a control signal through a user input device in communication with said controller.

11. The method of claim 1 , wherein applying motive force to the leg pairs through a plurality of actuators to cause a reciprocating, stepping motion from said leg pairs comprises:

providing a power source;

supplying power to said actuators from said power source;

applying force to said legs by said actuators under the control of said control signal to produce said stepping motion.

12. The method of claim 11 , wherein said actuators comprise servomotors, wherein each leg has at least one servomotor associated therewith.

13. The method of claim 11 , wherein said actuators comprise an assemblage of cams and gears.

14. The method of claim 11 , wherein said motive force is translated to said legs by means of an assembly of joints and hinges.

15. The method of claim 1 , further comprising:

maneuvering said vehicle by means of a steering system.

16. The method of claim 15 , wherein said steering system includes any of:

all-wheel steering;

articulated steering;

counter-rotating transverse-mounted virtual wheels; and

a pair of transverse-mounted wheels that are steered together.

17. The method of claim 1 , further comprising balancing a load.

18. The method of claim 17 , wherein balancing a load comprises:

altering an effective diameter of at least one virtual wheel;

pivoting axles of said vehicle to suit the terrain slope; and

shifting said load to maintain balance.