Virtual-wheeled vehicle
View Patent ↗A virtual wheel provides a leg pair as a conveyance mechanism for a land vehicle. The virtual wheel propels the vehicle across a surface using a repetitive motion of the legs that contact the ground as would a wheel, due to their geometry. Vehicle embodiments include at least two-, three-, four- and six-wheeled vehicles, both transverse and in-line. Additionally, the invention provides a bipedal walking robot. One embodiment provides a robotic mule—a payload-carrying vehicle. The invention combines the flexible mobility of bipedal vehicles with the stability and functionality of very large-wheeled vehicles. Additionally, a bimodal conveyance mechanism readily converts between walking and rolling modes
1. A virtual wheel, said virtual wheel comprising:
a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel, each leg of the pair connected to a common axle; and
at least one actuator for applying motive force to said each leg under the control of a controller programmed for producing a
reciprocating stepping motion by said leg pair.
2. The virtual wheel of claim 1 , wherein said virtual wheel is provided in any of single, bipedal, tripedal, quadrupedal and hexapedal configurations.
3. The virtual wheel of claim 1 , wherein said virtual wheel is mounted in any of:
transverse pairs on a common axle;
a staggered configuration;
an in-line configuration;
independent axles;
directly on a body of said vehicle without axles.
4. The virtual wheel of claim 1 , wherein said leg is jointed.
5. The virtual wheel of claim 1 , wherein said foot is attached to said leg by means of a joint, so that said foot rotates relative to said leg.
6. The virtual wheel of claim 1 , wherein said leg is provided with a shock absorbing means.
7. The virtual wheel of claim 1 , wherein said foot defines an arc of a circle.
8. The virtual wheel of claim 1 , wherein said foot has curved footpads.
9. The virtual wheel of claim 1 , wherein said foot is a scimitar foot.
10. The virtual wheel of claim 1 , wherein said controller activates said leg pair in a coordinated manner with other leg pairs.