Patent attributes
A motorized device for transporting a human or inanimate payload. A platform is configured to accommodate the payload and a pair of wheel clusters are mounted to the platform at opposite ends thereof and are powered in rotation relative to the platform, for example by one or more electric motors housed in or on the platform or wheel clusters. Each of the two wheel clusters comprises three drive wheels arranged in a generally triangular and co-planar configuration, and each is independently powered about its respective axis of rotation by a hub-mounted electric motor. An electronic controller commands the motors powering the two wheel clusters and of each of the six drive wheels. The independent controllability of each wheel and of the wheel clusters relative to the platform allows the device to steer and to ascend and descend steps.
