US 9,809,264 B1
Track kit for two wheeled balancing ground vehicle
Kurt A. Talke, San Diego, CA (US); Aaron Bruce Burmeister, La Mesa, CA (US); and Anthony Douglas Jones, San Diego, CA (US)
Assigned to The United States of America, as Represented by the Secretary of the Navy, Washington, DC (US)
Filed by Kurt A. Talke, San Diego, CA (US); Aaron Bruce Burmeister, La Mesa, CA (US); and Anthony Douglas Jones, San Diego, CA (US)
Filed on Jul. 20, 2015, as Appl. No. 14/734,817.
Int. Cl. B62D 55/04 (2006.01); B62D 55/084 (2006.01); B62D 55/14 (2006.01); B62D 55/32 (2006.01); G05D 1/08 (2006.01)
CPC B62D 55/04 (2013.01) [B62D 55/084 (2013.01); B62D 55/14 (2013.01); B62D 55/32 (2013.01); G05D 1/0891 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A dynamically balanced robot, said robot comprising:
a body;
at least one wheel rotatably mounted to said body on a body axis;
at least one strut extending from said body;
at least one idler wheel mounted to an end of said strut distal to said body;
a track slipped over said at least one wheel and said at least one idler wheel, said track frictionally engaging said at least one wheel and said at least one idler wheel; and,
said robot having a vertical reference vector and a revised center of gravity due to installation of said at least one strut, said at least one idler wheel and said track,
wherein said robot is switchable between wheeled operation and tracked operation during operation of the robot; and,
a processor, said processor containing non-transitory written instructions that, when accomplished, maintain said vertical reference vector parallel to a vector defined by said axis and said revised center of gravity during said wheeled operation;
wherein said end of said at least one strut distal to said body is u-shaped, said at least one idler wheel is fixed inside said end of said at least one strut distal to said body, and the robot further comprises at least one other idler wheel fixed outside said end of said at least one strut distal to said body.