Patent attributes
A robotic platform may include a chassis, left and right wheel assemblies, and a controller. The left and right wheel assemblies may include a caster wheel, a motor, a shaft, and a bevel gear. The wheel may be mounted to an axle for rotation about a drive axis and steering about a steering axis. The drive shaft may have one end coupled to the axle and another end wrapped by a respective belt to control rotation of the shaft about the steering axis. The bevel gear may couple the shaft to the axle so rotation of the shaft about the steering axis controls rotation of the wheel about the drive axis to drive the platform in a substantially horizontal direction. The controller may control the left and right drive motors independently, to provide differential drive. Various other assemblies, robots, and methods are also disclosed.
