Haoyong Yu

US Patent:

6540039, Apr 1, 2003

Filed:

Aug 3, 2000

Appl. No.:

09/631842

Inventors:

Haoyong Yu - Cambridge MA
Steven Dubowsky - Boston MA

Assignee:

Massachusetts Institute of Technology - Cambridge MA

International Classification:

B60K 1730

US Classification:

180253, 180264, 180237

Abstract:

A wheel base or mobile platform providing omnidirectional motion and control. At least two offset wheel assemblies are coupled to a platform that supports a load. Each offset wheel assembly has two wheels that share a common axis and a mechanical link that is pivotally coupled to a pivot point on the rigid platform and supports the two wheels in such a manner that the common axis is displaced from the pivot point. The common axis of the wheels is free to rotate about an axis parallel to the planes of rotation of the wheels. The platform may be turned in any direction specified by a user from any instantaneous configuration or velocity in accordance with a method uniquely specifying a torque to be applied to each of the wheels while each of the wheels is in rolling motion.