US 12,005,753 B2
System and method for traversing vertical obstacles
Ivo Liivik, Kuusalu (EE); Märt Liivik, Palmse (EE); and Tiit Liivik, Kesklinn (EE)
Assigned to Starship Technologies OÜ, Tallinn (EE)
Filed by Starship Technologies OÜ, Tallinn (EE)
Filed on Dec. 12, 2022, as Appl. No. 18/079,387.
Application 18/079,387 is a continuation of application No. 17/030,214, filed on Sep. 23, 2020, granted, now 11,577,573.
Application 17/030,214 is a continuation of application No. 15/953,375, filed on Apr. 13, 2018, granted, now 10,800,221, issued on Oct. 13, 2020.
Application 15/953,375 is a continuation of application No. PCT/EP2016/076254, filed on Oct. 31, 2016.
Claims priority of application No. 15192648 (EP), filed on Nov. 2, 2015; application No. 15198094 (EP), filed on Dec. 4, 2015; and application No. PCT/EP2016/025047 (WO), filed on May 25, 2016.
Prior Publication US 2023/0111087 A1, Apr. 13, 2023
Int. Cl. B60G 17/0165 (2006.01); B60G 5/00 (2006.01); B60G 5/01 (2006.01); B60G 17/019 (2006.01); B60K 1/02 (2006.01); B60P 3/00 (2006.01); B62D 61/10 (2006.01); G05D 1/00 (2006.01); B25J 5/00 (2006.01); B62D 55/075 (2006.01)
CPC B60G 17/0165 (2013.01) [B60G 5/00 (2013.01); B60G 5/01 (2013.01); B60G 17/019 (2013.01); B60K 1/02 (2013.01); B60P 3/00 (2013.01); B62D 61/10 (2013.01); G05D 1/021 (2013.01); G05D 1/0238 (2013.01); B25J 5/007 (2013.01); B60G 2300/02 (2013.01); B60G 2300/07 (2013.01); B60G 2300/20 (2013.01); B60G 2400/954 (2013.01); B60G 2800/21 (2013.01); B62D 55/075 (2013.01); Y10S 901/01 (2013.01)] 50 Claims
OG exemplary drawing
 
1. A mobile robot comprising:
a plurality of wheel mechanisms, comprising:
on a left side of the mobile robot: a left front wheel mechanism including a left front wheel, a left rear wheel mechanism including a left rear wheel, and a left middle wheel mechanism including a left middle wheel positioned between the left front wheel and the left rear wheel, and
on a right side of the mobile robot: a right front wheel mechanism including a right front wheel, a right rear wheel mechanism including a right rear wheel, and a right middle wheel mechanism including a right middle wheel, positioned between the right front wheel and the right rear wheel; and
at least one lever, each for connecting two of the wheel mechanisms on a side of the mobile robot and configured to rotate with respect to a pivot point between said two wheel mechanisms,
wherein each wheel has an axis of rotation, each said axis of rotation remaining substantially fixed with respect to the mobile robot during forward, rearward, and turning motion of said mobile robot,
wherein the lever is configured to rotate freely, and
wherein the at least one lever is configured to rotate freely by at most 60°, clockwise and counterclockwise.