US 11,993,119 B2
Robot having multiple wheel sets
James Kuffner, Tokyo (JP); and Satoshi Kagami, Tokyo (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-ken (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-ken (JP)
Filed on Aug. 26, 2021, as Appl. No. 17/412,274.
Prior Publication US 2023/0064738 A1, Mar. 2, 2023
Int. Cl. B60G 17/0165 (2006.01); B60S 1/68 (2006.01); B60W 60/00 (2020.01)
CPC B60G 17/0165 (2013.01) [B60S 1/68 (2013.01); B60G 2300/26 (2013.01); B60G 2500/30 (2013.01); B60W 60/00256 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A robot comprising:
a body having an internal opening;
a first wheel configured to deploy out of the internal opening and to retract into the internal opening using translational movement;
a second wheel configured to deploy out of the internal opening and to retract into the internal opening using translational movement;
a sensor configured to determine a location of the robot; and
a controller configured to control each of the first wheel and the second wheel, wherein in response to the location of the robot being at a predetermined location, the controller is configured to cause the second wheel to deploy out of the internal opening and to cause the first wheel to retract into the internal opening.