| 主权项 |
1. A method performed by an articulated vehicle, the method comprising:
driving the articulated vehicle along a drive direction over a surface, the vehicle comprising:
a main frame having right and left sides;a drive system disposed on the main frame and configured to maneuver the articulated vehicle over the surface, the drive system including a pair of parallel main tracks each coupled to a corresponding side of the main frame and each being driven by a corresponding drive pulley rotating about a transverse axis generally perpendicular to the sides of the main frame and between a top of the parallel main tracks and a bottom of the parallel main tracks;at least one arm having a proximal end and a distal end, the proximal end of the at least one arm being pivotally coupled to the main frame about the transverse axis that the drive pulleys rotate about;an articulator motor disposed on the main frame and coupled to the at least one arm for pivoting the at least one arm above the surface and about the transverse axis; anda sensor system; detecting, using the sensor system, that the articulated vehicle is in free fall; and in response to detecting that the articulated vehicle is in free fall, automatically and without operator intervention assuming a stowed position by rotating the at least one arm, using the articulator motor, so that the at least one arm is next to the parallel main tracks. |
