US Patent 8011458 Steering and driving systems and related vehicles

A ZTR vehicle includes true or proper ZTR steering in the forward and reverse directions. The vehicle has independently driven locomotive drives that drive the wheels to provide mobility and steering to the vehicle. A steering wheel is included that pivots one of two steering input members that rotate to independently shift the drive units. A speed and direction pedal is also included, which is communicated to provide direction and magnitude input to the drive units. The steering input and speed and direction inputs coordinate propelling the vehicle such the vehicle turns in the same direction when traveling forward as well as in reverse.