Patent ID: 11884348
Assignee: MASSACHUSETTS INSTITUTE OF TECHNOLOGY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 7:
8. The vehicle of claim 7, wherein a lateral distance, w, from a center of the first wheel to the longitudinal axis of the vehicle is described by a relation:, w
  =
  
   h
   +
   
    
     
      
       j
       2
      
      +
      
       k
       2
      
     
    
    ⁢
    sin
    ⁢
    
     (
     
      
       
        
         tan
          
        
        
         -
         1
        
       
       ⁢
       
        (
        
         k
         j
        
        )
       
      
      -
      α
     
     ), wherein:
α is the steering angle of the first wheel, h is a first lateral distance from the longitudinal axis to a steering axis of the first wheel, j is a second lateral distance from the steering axis to the first wheel when α is equal to zero, and k is a longitudinal distance from the steering axis to the first wheel when α is zero; and
the values of α, j, and k are chosen such that w is substantially constant when the vehicle turns.