Vehicles and systems and components thereof
New mobility components are provided that can enable a vehicle to traverse difficult terrain. In a particular aspect, vehicle leg components are provided that utilize unique degrees of freedom that can facilitate mobility. In a further aspect, vehicles are provided that contain such components.
1. A vehicle, comprising;
a plurality of vehicle traversal components,
a receiver mounted with a wheel rotation and steering housing; and
a latch that engages with the receiver to engage a passive suspension connected to a chassis of the vehicle;
wherein each vehicle traversal component comprises:
(a) a wheel unit with multiple degrees of freedom, and
(b) a leg unit with multiple degrees of freedom, wherein the leg unit is extendable;
wherein the leg unit includes;
a hip housing.
at least two leg portions, and
the wheel rotation and steering housing.
2. The vehicle of claim 1 , wherein the plurality of vehicle traversal components comprise at least four vehicle traversal components.
3. The vehicle of claim 1 , wherein the leg units nest in a retracted configuration in a driving state of the vehicle.
4. The vehicle of claim 1 , wherein the leg units extend vertically in an actuated configuration in a walking state of the vehicle.
5. The vehicle of claim 1 , wherein each degree of freedom of the leg units is driven by a direct current motor.
6. The vehicle of claim 1 , further comprising a wheel hub motor installed at an inner surface of the respective wheel units.
7. The vehicle of claim 1 , wherein a height of the vehicle is adjustable to a height of terrain on which the vehicle is being driven.
8. The vehicle of claim 1 , wherein the degrees of freedom of the vehicle traversal components comprise hip abduction, hip extension, knee extension, ankle extension, wheel steering and wheel rotation.
9. The vehicle of claim 8 , wherein a vehicle height is adjusted to the terrain height when a knee extension motor is engaged with one of the at least two leg portions.
10. The vehicle of claim 1 , wherein the leg units include:
a knee joint that connect a first leg portion and a second leg portion of the leg units;
a hip portion through which the leg units are coupled to a vehicle chassis; and
an ankle joint unit coupled to the wheel units.
11. The vehicle of claim 10 , wherein the wheel units include:
a wheel;
a wheel drive unit; and
a wheel shaft,
wherein a first end of the wheel shaft mates with the drive unit and a second end of the wheel shaft mates with the second leg portion of the leg units.
12. A vehicle comprising a plurality of vehicle traversal components, each vehicle traversal component comprising:
a wheel unit with multiple degrees of freedom;
a leg unit with multiple degrees of freedom, wherein the leg unit is extendable,
wherein a suspension unit is engaged with the vehicle in a driving state and the suspension unit is disengaged with the vehicle in a walking state.
13. The vehicle of claim 12 ,
wherein a height of the vehicle is adjustable based on extension of the leg unit.