| 摘要 |
A wheeled chassis having separately and independently pivotable drivewheels for omnidirectional motion, including a frame preferably defining at least three comers; first and second drivewheels, each of which is connected by a kingpin to the frame and preferably to a respective one of two of the corners of the frame; at least one free-spinning wheel rotatably attached to a third corner of the frame; first and second pivoting devices for separate and independent and substantially unrestricted 360 DEG pivoting of each respective drivewheel about a substantially vertical axis, the first and second pivoting devices cooperatively determining a direction of travel of the chassis; first and second drive devices each operatively connected to a respective one of the drivewheels for moving the chassis in the determined direction of travel; and a control system operatively connected to the pivoting devices and to the drive devices for controlling and changing the direction of travel and setting a speed of travel of the chassis on and along a ground surface.
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