All terrain ground robot with compliant leg system, energy recycling features and zero turn capabilities

1. A self-propelled ground vehicle, comprising:

a) a body, comprising:

i) a drivetrain; and

ii) a tail that constrains rotation of said body

b) a plurality of hub and leg assemblies, each of said assemblies comprising:

i) a hub rotatably connected to said drivetrain; and

ii) at least one leg of said plurality of hub and leg assemblies radially connected to said hub

c) a power source;

d) wherein:

i) legs of said plurality of hub and leg assemblies are radially and rigidly connected to said hubs;

ii) legs of said plurality of hub and leg assemblies are equally angularly-spaced from other legs by an angle equal to 360 degrees divided by the number of legs in each of said plurality of hub and legs assemblies; and

iii) legs of said plurality of hub and leg assemblies each have a foot or pad structure attached at the end configured to contact with said ground; and

e) wherein said tail has at least one spring-loaded wheel at its end configured to contact the ground.

2. A self-propelled ground vehicle, comprising:

a) a body, comprising:

i) a drivetrain; and

ii) a tail that constrains rotation of said body

b) a plurality of hub and leg assemblies, each of said assemblies comprising:

i) a hub rotatably connected to said drivetrain; and

ii) at least one leg of said plurality of huh and leg assemblies radially connected to said hub

c) a power source;

d) wherein:

i) legs of said plurality of hub and leg assemblies are radially and rigidly connected to said hubs;

ii) legs of said plurality of hub and leg assemblies are equally angularly-spaced from other legs by an angle equal to 360 degrees divided by the number of legs in each of said plurality of hub and legs assemblies; and

iii) legs of said plurality of hub and leg assemblies each have a foot or pad structure attached at the end configured to contact with said ground; and

e) wherein said tail has at least one said hub and leg assembly at its end configured to contact the wound.

3. A self-propelled ground vehicle, comprising:

a) a body, comprising:

i) a drivetrain; and

ii) a tail that constrains rotation of said body

b) a plurality of hub and leg assemblies, each of said assemblies comprising:

i) a hub rotatably connected to said drivetrain; and

ii) at least one leg of said plurality of hub and leg assemblies radially connected to said hub

c) a power source;

d) wherein:

i) legs of said plurality of hub and leg assemblies are radially and translationally connected to said hub;

ii) legs of said plurality of huh and leg assemblies are equally angularly-spaced from an adjacent said leg by an angle equal to 360 degrees divided by the number of legs;

iii) legs of said plurality of hub and leg assemblies have a foot or pad structure at its end configured to contact with said ground;

iv) hubs of said plurality of hub and leg assemblies have a hub sliding guide to guide said leg translational motion along a radial axis of said hub;

v) legs and hubs of said plurality of hub and leg assemblies each have mechanical stops to constrain said legs to remain connected to said hubs;

vi) hubs of said plurality of hub and leg assemblies have a spring device configured to push said leg away from said hubs' axis of rotation; and

vii) legs of said plurality of hub and leg assemblies translate through said hub sliding guide toward said hub axis of rotation and deform said spring device under the action of a force applied to said, foot or pad-like structure

e) wherein said tail has at least one spring-loaded wheel at its end configured to contact the ground.

4. A self-propelled ground vehicle, comprising:

a) a body, comprising:

i) a drivetrain; and

ii) a tail that constrains rotation of said body

b) a plurality of hub and leg assemblies, each of said assemblies comprising:

i) a hub rotatably connected to said drivetrain; and

ii) at least one leg of said plurality of hub and leg assemblies radially connected to said hub

c) a power source;

d) wherein:

i) legs of said plurality of hub and leg assemblies are radially and translationally connected to said hub;

ii) legs of said plurality of hub and leg assemblies are equally angularly-spaced from adjacent said leg by an angle equal to 360 degrees divided by the number of legs;

iii) legs of said plurality of hub and leg assemblies have a foot or pad structure at its end configured to contact with said ground;

iv) hubs of said plurality of hub and leg assemblies have a hub sliding guide to guide said leg translational motion along a radial axis of said hub;

v) legs and hubs of said plurality of hub and leg assemblies each have mechanical stops to constrain said legs to remain connected to said hubs;

vi) hubs of said plurality of hub and leg assemblies have a spring device configured to push said leg away from said hubs' axis of rotation; and

vii) legs of said plurality of hub and leg assemblies translate through said hub sliding guide toward said hub axis of rotation and deform said spring device under the action of a force applied to said foot or pad structure; and

e) wherein said tail has at least one said hub and leg assembly at its end configured to contact the ground.

5. A self-propelled ground vehicle, comprising:

a) a body, comprising:

i) a drivetrain; and

ii) a tail that constrains rotation of said body

b) a plurality of hub and leg assemblies, each of said assemblies comprising:

i) a hub rotatably connected to said drivetrain; and

ii) at least one leg of said plurality of hub and leg assemblies radially connected to said hub

c) a power source;

d) wherein:

i) legs of said plurality of hub and leg assemblies are radially and translationally connected to said hub;

ii) legs of said plurality of hub and leg assemblies are equally angularly-spaced from adjacent said leg by an angle equal to 360 degrees divided by the number of legs;

iii) legs of said plurality of hub and leg assemblies have a foot or pad structure at its end configured to contact with said ground;

iv) hubs of said plurality of hub and leg assemblies have a hub sliding guide to guide said leg translational motion along a radial axis of said hub;

v) legs and hubs of said plurality of huh and leg assemblies each have mechanical stops to constrain said legs to remain connected to said hubs;

vi) hubs of said plurality of hub and leg assemblies have a spring device configured to push said leg away from said hubs' axis of rotation; and

vii) legs of said plurality of hub and leg assemblies translate through said hub sliding guide toward said huh axis of rotation and deform said spring device under the action of a force applied to said foot or pad structure

e) wherein;

i) a said hub has a conductive coil surrounding each of said sliding guides;

ii) said leg has a magnet attached to it made of magnetic material;

iii) said hub with conductive coil is generating electrical energy when said leg with a magnet attached to it or made of magnetic material is translating through said sliding guide; and

iv) said conductive coil is connected to a circuitry to harvest generated energy.

6. A self-propelled ground vehicle, comprising:

a) a body, comprising:

i) a drivetrain; and

ii) a tail that constrains rotation of said body,

b) a plurality of hub and leg assemblies, each of said assemblies comprising:

i) a hub rotatably connected to said drivetrain; and

ii) at least one leg of said plurality of hub and leg assemblies radially connected to said hub;

c) a power source;

d) wherein:

i) legs of said plurality of hub and leg assemblies are radially and translationally connected to said hub;

ii) legs of said plurality of huh and leg assemblies are equally angularly-spaced from adjacent said leg by an angle equal to 360 degrees divided by the number of legs;

iii) legs of said plurality of hub and leg assemblies have a foot or pad structure at its end configured to contact with said ground;

iv) hubs of said plurality of hub and leg assemblies have a hub sliding guide to guide said leg translational motion along a radial axis of said hub;

v) legs and hubs of said plurality of huh and leg assemblies each have mechanical stops to constrain said legs to remain connected to said hubs;

vi) hubs of said plurality of hub and leg assemblies have a spring device configured to push said leg away from said hubs' axis of rotation; and

vii) legs of said plurality of hub and leg assemblies translate through said hub sliding guide toward said hub axis of rotation and deform said spring device under the action of a force applied to said foot or pad structure;

e) wherein:

i) said leg has a piezoelectric stack integrated between its two ends;

ii) said piezoelectric stack generates electrical energy when a force is applied to one end of said leg; and

iii) said piezoelectric stack is connected to a circuitry to harvest generated energy.