Softbank Robotics Europe

Philippe Roux

Vincent Clerc

A spherical wheel to move a vehicle comprises two caps, the surface of which follows the spherical surface of the wheel, the caps being articulated by means of a pivot link relative to a shaft. The wheel further comprises two casters each arranged in an opening of each of the caps, the opening centered about the axis of the corresponding pivot link, each caster arranged in the extension of the pivot link of the cap concerned. Each caster ensures a rolling at the level of the spherical surface. Radii S of the opening of each cap and r of the corresponding caster are defined to substantially balance forces needed to drive a cap and the corresponding caster when the wheel goes from bearing on the ground on a cap at the edge of the opening to bearing on the ground on the corresponding caster.

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Paris, France

Philippe Roux