Abstract:
A toy vehicle has first, second and third wheels for movement over a surface. Each of the first, second and third wheels has a respective first, second and third axis of rotation that lies between the remaining two other axes of rotation such that the three axes of rotation are mutually adjoining. Each of the three axes of rotation crosses over the other two axes of rotation such that an angle is formed between each adjoining crossing pair of the axes of rotation where each angle is other than a multiple of 90 degrees. Each wheel is individually powered so that the toy vehicle can translate in any horizontal direction regardless of its facing direction. Two of the wheels can be realigned so their axes of rotation are collinear for conventional movement.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of U.S. Provisional Patent Application No. 60/826,345 filed Sep. 20, 2006 entitled “Holonomic Motion Toy Vehicle” and U.S. Provisional Patent Application No. 60/941,574 filed Jun. 1, 2007 entitled “Multi-mode Toy Vehicle” which are incorporated by reference herein in their entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     This invention generally relates to a three wheeled toy vehicle and, more particularly, to a three wheeled vehicle capable of transforming between multiple modes or configurations. 
     Toy wheeled vehicles are well-known. Three wheeled toy vehicles typically have two parallel axes with two wheels provided on one axis and one wheel provided on the other axis in a T-shaped configuration. Such vehicles translate forward and reverse and turn toward either lateral direction. However, known three wheeled toy vehicles often do not provide lateral translation, pure rotation or a combination of translation and rotation. 
     Holonomic vehicles have been developed that provide omni-directional motion. Holonomic or omni-directional motion is a robotics term regarding the degrees of freedom. In robotics, holonomicity refers to the relationship between the controllable and total degrees of freedom of a given robot (or part thereof). If the controllable degrees of freedom is greater than or equal to the total degrees of freedom then the robot is said to be holonomic. If the controllable degrees of freedom is less than the total degrees of freedom it is non-holonomic. Holonomic vehicles may move in any translational direction while simultaneously but independently controlling its rotational, orientation and speed about a center of its body. Holonomic vehicles have been developed that either have three or four wheels spaced equiangularly apart such that axes of rotation are mutually adjoining. 
     What is desired but not provided in the prior art, is a multi-mode three wheel toy vehicle that transforms between a holonomic configuration and a non-holonomic configuration. It is believed that a new toy vehicle providing features and performance of heretofore unavailable motion would provide more engaging play activity than already known vehicles. 
     BRIEF SUMMARY OF THE INVENTION 
     Briefly stated, the present invention is directed to a multi-mode three wheeled toy vehicle. The toy vehicle comprises a chassis having first, second and third wheels that are supported for rotation from the chassis and support the chassis for movement on a surface. The first wheel is operably and pivotably connected to the chassis by a first leg. The first leg is pivotable toward and away from the second and third wheels. Each of the first, second and third wheels has a respective first, second and third axis of rotation. Each of the first, second and third axes of rotation lies between the remaining two other axes of rotation such that the three axes of rotation are mutually adjoining. Each of the three axes of rotation crosses over the other two axes of rotation such that an angle is formed between each adjoining crossing pair of the axes of rotation. Each adjoining pair of the first, second and third wheels, and the angle formed between each adjoining pair of the axes of rotation is other than a multiple of about 90 degrees. 
     In another aspect, the invention is directed to a multi-mode three wheeled toy vehicle which comprises a chassis and three independently operated motors. A rear leg and two front legs each extend from the chassis. The two front legs are pivotably attached to the chassis. Each leg includes a wheel assembly with an axis of rotation generally parallel to the leg from which the wheel assembly is attached. Each wheel assembly is driven by a separate one of the three motors. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       The foregoing summary, as well as the following detailed description of a preferred embodiment of the invention, will be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the invention, there is shown in the drawings an embodiment which is presently preferred. It should be understood, however, that the invention is not limited to the precise arrangements and instrumentalities shown. 
       In the drawings: 
         FIG. 1  is a perspective view of the upper, front and left sides of a toy vehicle in accordance with a preferred embodiment of the present invention shown in a first configuration and mode; 
         FIG. 2  is a perspective view of the upper, front and left sides of a toy vehicle of  FIG. 1  shown in a second configuration and mode; 
         FIG. 3  is a top perspective view of a portion of the chassis of the toy vehicle of  FIG. 1 ; 
         FIG. 4  is an exploded perspective view of a portion of the chassis of the toy vehicle of  FIG. 1 ; 
         FIG. 5  is a bottom plan view of a portion of the chassis of the toy vehicle of  FIG. 1 ; 
         FIG. 6  is a perspective view of the front, bottom and left sides of a portion of the chassis of the toy vehicle of  FIG. 1 ; 
         FIG. 7  is a front perspective view of the remote control of the toy vehicle of  FIG. 1 ; 
         FIG. 8  is a schematic of the control circuitry of the remote control of  FIG. 15 ; 
         FIG. 8   a  is a schematic of a position sensor of the remote control transmitter circuit of  FIG. 8 ; 
         FIG. 9  is a schematic of the vehicle control circuit of the toy vehicle of  FIG. 1 ; 
         FIG. 10A  is a schematic of the driver motor control direction of the toy in the first configuration and mode of  FIG. 1 ; and 
         FIG. 10B  is a schematic of the drive motor control direction of the toy vehicle in the second configuration and mode of  FIG. 2 . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Certain terminology is used in the following description for convenience only and is not limiting. The words “right,” “left,” “lower” and “upper” designate directions in the drawings to which reference is made. The words “inwardly” and “outwardly” refer to directions toward and away from, respectively, the geometric center of a multi-mode three wheeled toy vehicle in accordance with the present invention, and designated parts thereof. Unless specifically set forth herein, the terms “a”, “an” and “the” are not limited to one element but instead should be read as meaning “at least one”. The terminology includes the words noted above, derivatives thereof and words of similar import. 
     Referring to the figures in detail, wherein like numerals indicate like elements throughout, there is shown in  FIGS. 1-10B  a presently preferred embodiment of a multi-mode three wheeled toy vehicle (or simply “toy vehicle”)  10 . With reference initially to  FIGS. 1-2 , the toy vehicle  10  comprises a body assembly or chassis  12 . The chassis has a first major or top side  12   c  and a second major or bottom side (not shown) opposite the first major side  12   c , a first lateral or left side  12   d  and a second lateral or right side  12   e  opposite the first lateral side  12   d  and first or front end  12   f  and a second or rear end  12   g  opposite the first end  12   f . The chassis  12  supports a decorative outer housing  14 . The decorative outer housing  14  may be comprised of any shape to give the toy vehicle  10  any appearance such as a robot, vehicle, or insect for example. The outer housing  14  may include a translucent or transparent window  16  on the top side  12   c . The outer housing  14  and/or window  16  may be removable to allow access to the parts such as a disk launcher  58  and electric components on the chassis  12 . The window  16  may also be disposed over a light source such as an LED (not shown) to illuminate the window  16  and create a visually appealing display. 
     Referring to  FIG. 2 , the currently preferred chassis  12  includes at least one and preferably a plurality of lights  18   a ,  18   b ,  18   c  (collectively  18 ) on the front end  12   f  of the chassis  12 . The lights  18  are preferably LEDs or low powered lasers each capable of projecting a beam of light on a target or to form a light pattern on an object. The lights  18  may be constantly on when the toy vehicle is on, on only when the vehicle is in motion or moving in a certain motion, on automatically when the surrounding area is sufficiently dimly lit, manually on when selected by the user, or on when the toy vehicle  10  is in an attack mode as discussed further below. 
     Referring to  FIGS. 1-2  and  6 , pivotably attached to the chassis  12  is a first or left leg  20  and a second or right leg  22  toward the front end  12   f . A third or rear leg  24  extends from the rear end  12   g  of the chassis  12 . Though it is preferred that the rear leg  24  is not pivotable, it is within the spirit and scope of the invention that the rear leg  24  is pivotable as well. Preferably, an identical wheel assembly  26  is rotatably mounted to the distal, free end of the left, right, and rear legs  20 ,  22 ,  24 . The wheel assembly  26  preferably includes an omni-directional wheel as discussed further below. A reversible electric drive motor M 1 , M 2 , M 3  ( FIG. 6 ) is positioned within each leg  20 ,  22 ,  24 , respectively. The drive motors M 1 , M 2 , M 3  drive each wheel assembly  26   a ,  26   b ,  26   c  individually about an axis  20 ′,  22 ′,  24 ′ (See  FIGS. 10A ,  10 B) parallel to and extending longitudinally through the left, right, and rear legs  20 ,  22 ,  24 . Each drive motor M 1 , M 2 , M 3  is connected to a preferably identical reduction transmission  30  ( FIG. 6 ) which in turn drives the associated wheel assembly  26 . The wheel assemblies  26   a ,  26   b ,  26   c  may be driven in either direction utilizing a remote control  32  ( FIG. 7 ) to translate or rotate the toy vehicle  10  or both as discussed further below. 
     Preferably, the toy vehicle  10  is configured to transform or “toggle” between a first, preferably orthogonal or T-shaped “interceptor” mode ( FIGS. 1 and 10A ) and a second, preferably equiangular or Y-shaped “attack” mode ( FIGS. 2 and 10B ). The toy vehicle  10  is further preferably configured to operate in two different motive modes, a conventional motion mode with at least two parallel wheel assemblies  26  (e.g. T-shaped or orthogonal “interceptor” mode”) and an omni-directional or holomonic motion mode preferably with no parallel wheel assemblies  26  (e.g. the Y-shaped non-orthogonal “attack” mode) for steering or propulsion.  FIGS. 1 and 10A  depict the first, orthogonal or T-shaped mode of the vehicle  10  for conventional motion with the left and right legs  20 ,  22  being separated from one another by about 180 degrees across the forward end of the toy vehicle  10  and from the rear leg  24  by about 90 degrees. Wheels  26   a ,  26   b  are parallel. Preferably, the legs  20 ,  22 , and  24  of the toy vehicle  10  can be transformed from the T-shaped mode shown in  FIGS. 1 and 10A  to the Y-shaped mode shown in  FIGS. 2 and 10B . In the preferred orthogonal mode, the left and right legs  20 ,  22  are co-linear with their wheel assemblies  26  and respective axes of rotation  20 ′,  22 ′, all lying along a common axis, and the rear leg  24  is perpendicular to the left and right side legs  20 ,  22 . In the Y-shaped mode, the left and right legs  20 ,  22  are pivoted forward towards one another and away from the third leg  24  forming a “Y” configuration out of the legs  20 ,  22 ,  24 . Preferably, left and right legs  20 ,  22  are each pivoted about 30° from their orthogonal, positions whereby the three legs  20 ,  22 ,  24  are at least generally equiangularly spaced apart about 120°. In the T-shaped mode, the toy vehicle  10  can be propelled in a conventional fashion by drive of just the wheel assemblies  26   a ,  26   b  of the left and right side legs  20 ,  22 . When turning, wheel assembly  26   c  of the rear leg  24  can optionally be driven in the direction of the turn to provide additional power for steering and propulsion. In the non-orthogonal Y-shaped mode, all three wheels  26   a ,  26   b ,  26   c  are preferably driven to provide translational motion in any direction with or without rotation of the vehicle  10 . 
     To foster both modes of operation, each wheel assembly  26  preferably has a plurality of rollers  34 . Each roller  34  has an axis of rotation which is normal to the axis of the wheel assembly  26  when projected onto the latter axis. Each wheel assembly  26  includes a first set of rollers  36  ( FIG. 2 ) preferably having three individual rollers  34  equally spaced around the axis of the wheel assembly  26  and a second set of rollers  38  preferably having three individual rollers  34  equally spaced around the axis of the wheel assembly  26 . The second set of rollers  38  is located outwardly, distal to the supporting leg  20 ,  22 ,  24  and the first set of rollers  36  is located inwardly, proximal to the supporting leg. The first set of rollers  36  is preferably angularly displaced from the second set of rollers  38  by about sixty degrees (see  FIG. 2 ) such that at least one roller  34  of a wheel assembly  26  is always in contact with a surface “S” supporting the wheel assembly  26 . The rollers  34  are attached within a support structure or hub  40  and are freely rotatable about their respective axes. The support structure  40  is attached to or forms the axis  20 ′,  22 ′,  24 ′ of the wheel assembly  26  and has six concave recesses  40   a  for receiving and supporting the rollers  34 . The rollers  34  are preferably longer axially than radially. In addition, the rollers  34  have tapered ends such that the first and second set of rollers  36  and  38  collectively define a generally circular outer circumference of the wheel assembly  26 . More or less than six rollers  34  can be provided on each wheel assembly  26 . Though it is preferred that the wheel assemblies  26   a ,  26   b ,  26   c  include two sets of rollers  36  as described above, it is within the spirit and scope of the present invention that more or less sets and more or less rollers  36  are utilized and positioned in any configuration as long as the wheel assembly  26  is capable of rotating and translating as described further below. 
     Referring to  FIGS. 1 ,  2  while the toy vehicle  10  may be configured to be transformed manually, preferably a separate remotely controlled and preferably reversible central motor  42  is provided for moving the left and right legs  20 ,  22  towards and away one another between the T-shaped and Y-shaped modes. Preferably, the central motor  42  is also used for firing discs  60  but it is within the spirit and scope of the present invention that an additional motor be used for that or that the central motor  42  or another motor be used for other purposes. Additionally, a front face shield  48  is preferably provided and moves in conjunction with the left and right legs  20 ,  22 . The face shield  48  is actuated between a closed position ( FIG. 1 ) corresponding to the T-shaped or orthogonal mode and a raised position ( FIG. 2 ) corresponding to the Y-shaped or equiangular mode. 
     Referring to  FIGS. 3-5 , the central motor  42  drives a first spur gear  150  located on an upper chassis  12   b . The spur gear  150  is connected to a worm  152  which drives a clutch gear  72  comprised of a top, central and bottom spur gear  72   a ,  72   b ,  72   c  respectively. Within the central spur gear  72   b , a one way clutch preferably in the form of a pair of spring biased levers  72   d  ( FIG. 4 ) is provided on either side of central spur gears  72   b  between the central spur gear  72   b  and each of the top and bottom spur gears  72   a ,  72   c  respectively. The levers  72   d  are spring biased against a toothed inner surface  72   b ′ ( FIG. 8 ) to allow the top and bottom spur gears  72   a ,  72   c  to rotate independently from the central spur gear  72   b  in one direction but are engaged with the toothed surface  72   b ′ when rotated in an opposite, second direction to provide one way clutching in opposite directions between the central spur gear  72   b  and the top and bottom spur gears  72   a ,  72   c . That is, if the top spur gear  72   a  rotates with the central spur gear  72   b  in a first direction D 1 , then the bottom spur gear  72   c  will rotate with the central spur gear  72   b  only in the second, opposite direction. When the central gear  72   b  is rotated in the first direction D 1 , the top spur gear  72   a  drives a combination spur gear  154  comprised of a larger diameter spur gear  154   a  driven by the top spur gear  72   a  and a connected smaller diameter spur gear  154   b . Resistance downstream from the lower gear  72   c  will cause that gear to slip with respect to the central gear  72   b  as it rotates in the D 1  direction. The smaller diameter spur gear  154   b  drives a first keyed spur gear  156 . The first keyed spur gear  156  rotates a shaft  157  to rotate a second keyed spur gear  158  located underneath the upper chassis  12   b . The second keyed spur gear  158  drives a pegged gear  52  on the underside of a lower chassis  12   a . The pegged gear  52  includes a step  52   a . A peg  52   b  extends axially outwardly from an eccentric position toward the outer diameter of the pegged gear  52 . The peg  52   b  is disposed at least partially within a laterally extending slot  50   a  in a rack  50  positioned under the lower chassis  12   a  such that rotation of the pegged gear  52  in a first direction D 1 ′ ( FIG. 5 ), cyclically urges the rack  50  towards the front  12   f  and the rear  12   g  of the toy vehicle  10  and chassis  12 . The pegged gear  52  rotates freely in the first direction D 1 ′ corresponding to the first direction D 1  of the top spur gear  72   a . When the central spur gear  72   b  rotates in the second direction opposite the first direction D 1 , the pegged gear  52  is driven in the second direction, opposite direction D 1 ′, until a spring biased latch  160  engages with the step  52   a  thereby ceasing rotation of the pegged gear  52 . If the worm  152  continues to rotate the central spur gear  72   b  in the second direction, the resistive force of the levers  72   d  is overcome, disengaging the levers  72   d  with the toothed surface  72   b ′ and allowing the central spur gear  72   b  to continue to rotate and slip with respect to the stationary top spur gear  72   a.    
     The rack  50  drives a compound pinion gear  54  pivotably connected to the lateral sides of the chassis  12 . The compound pinion gear  54  drives a link spur gear  55  each of which is connected to one of a pair of linkages ( FIG. 6 ) disposed on each lateral side of the toy vehicle  10 . The linkages include a drive rod  56   a  actuating a pivotably mounted lever  56   b . Opposing ends of the drive rod  56   a  are pivotably connected with an eccentric pin on the link spur gear  55  and a proximal end of the lever  56   b . The free ends of the linkage levers  56   b  are connected to the face shield  48  ( FIGS. 1 and 2 ) to raise and lower the face shield  48 . 
     Referring to  FIGS. 4-6 , the rack  50  also includes two diagonally extending slots  50   b  positioned toward the front end  12   f . A pivot arm  162  extends from each of the left and right legs  20 ,  22 . The pivot arms  162  include a pivot arm pin  162   a  extending from the distal end. The pivot arm pins  162   a  are disposed at least partially within the slots  50   b  of the rack  50 . Movement of the rack urges the pivot arm pins  162   a  to pivot the pivot arms  162  and thereby pivot the left and right legs  20 ,  22 . The pivot arms  162  may be provided with a jaw peg (not shown) that rotates a jaw shaft  76   a . A pair of jaws  76  is extend from the front end  12   f  of the chassis  12 . The jaws  76  move towards the center of the front end  12   f  of the chassis  12  and rotate out towards the left or right lateral sides  12   d ,  12   e  of the toy vehicle  10  as the left and right legs  20 ,  22  are rotated. The jaws are preferably frictionally positioned on the jaw shafts  76   a  such that a user can manually position the jaws  76  in addition to the movement provided by the pivot arms  162 . Though the above described operation is preferred, the jaws  76  may extend outwards and then inwards determined by a certain position of the toy vehicle  10 , selection by the user, or when the disc launcher  58  is in use. Alternatively, the jaws  76  may be motor driven and controlled automatically by an on-board radio receiver/controller or independently remotely controlled. 
     A limit peg  44  preferably is disposed within the pivot arms  162  and prevents over rotation of the left and right legs  20 ,  22 . As the top spur gear  72   a  is driven in the first direction D 1 , the left and right legs  20 ,  22  are pivoted or positioned between the T-shaped and Y-shaped modes. If the central motor  42  is reversed and the top spur gear  72   a  is driven in the second direction (opposite D 1  and D 1 ′), the pegged gear  52  rotates in the second direction until the left and right legs  20 ,  22  are positioned in the Y-shaped or “attack” mode at which point step  52   a  is engaged by the spring biased latch  160  ( FIG. 5 ). The toy vehicle  10  remains in the Y-shaped position even if the central motor  42  continues to rotate in the second direction. The left and right side legs  20 ,  22  are then only moveable once the direction of the central motor  42  is reversed. 
     Referring to  FIG. 6 , the chassis  12  further preferably supports a toy disk launcher, indicated generally at  58 , that is generally aligned with one or more of the light beams emitted from the one or more lights  18 . The disc launcher  58  ejects generally flat and cylindrically shaped polymeric discs  60  from the front end  12   f  of the chassis  12 . The disc launcher  58  includes two generally c-shaped snap rings  62 . The snap rings  62  have a diameter larger than the discs  60 . Canisters  66  hold stacks of disks  60  over the snap rings  62  to gravity feed a subsequent disc  60  into the snap ring  62  after each firing. An urging member  64  ( FIG. 10 ) is slidably disposed through the rear of each of the snap rings  62 . The urging member  64  pushes through the front opening  62   a  of the snap ring  62 , each of the discs  60  dropped into the snap ring  62 . The disc  60  spreads apart the opening  62   a  of the snap ring  62  as it is urged through the opening  62   a  of the snap ring  62  and once the diameter (the largest width) of the disc  60  passes through the opening  62   a  of the snap ring  62 , the resiliency of the snap ring  62  causes the disc  60  to be launched forward. The canisters  66  are positioned on a platform  68 . The platform  68  provides a surface for the fired disc  60  and is attached to the chassis  12 . 
     Referring to  FIG. 4 , slide arms  70  are preferably pivotally connected to the urging members  64 . The slide arms  70  slide back and forth to alternatively push discs  60  through the openings  62   a  to fire the discs  60 . Preferably, the slide arms  70  are each driven by a slide spur gear  164  located between the upper and lower chassis  12   b ,  12   a . Both slide spur gears  164  are driven by the bottom spur gear  72   c  which extends through the upper chassis  12   b . The bottom spur gear  72   c  is only driven when the central spur gear  72   b  is driven in the second direction thereby firing discs  60  only when the face shield  48  is open and the left and right legs  20 ,  22  are in the Y-shaped or attack mode. 
     Though it is preferred that one motor is used to operate the left and right legs  20 ,  22 , the face shield  48  and the disc launcher  58 , it is within the spirit and scope of the present invention that more than one motor be used or alternative drive mechanisms be utilized or both. 
     In the Y-shape or “attack” mode, the toy vehicle  10  can move omni-directionally or holonomically across support surfaces, meaning that it may move in any translational direction while simultaneously but independently controlling its rotational orientation and speed about a center of its chassis  12 . When the wheel assemblies  26  are rotated in the same direction clockwise or counterclockwise and at the same rate, the toy vehicle  10  will spin or rotate about the center of the chassis  12  with no radial (i.e. translational) motion. For example, when all of the wheel assemblies  26  rotate clockwise, the toy vehicle rotates in a clockwise direction. When only one of the three wheel assemblies  26  rotates while the remaining wheel assemblies  26  do not rotate, the toy vehicle  10  will translate and rotate in the direction of the rotating wheel assembly  26 . The nonrotating wheel assemblies  26  slide on the rollers  34  in contact with the underlying planar surface “S”. By balancing the drive of the wheel assemblies  26  of the three legs  20 ,  22 ,  24 , the toy vehicle  10  can move in any direction with the forward end facing in one constant direction or as it is rotated in any direction. For example, when the wheel assembly  26   c  of the rear leg  24  rotates in the clockwise direction when viewed from the perspective of the chassis  12  looking out the leg  24 , the toy vehicle moves generally towards the left lateral side  12   d . The taper of the rollers  34  allows the wheel assemblies  26  to slide as necessary when the toy vehicle  10  is moving a direction that is not normal to the axis of the roller  34 . The wheel assembly  26  may rotate slightly until the taper of the roller  34  matches the direction of the travel of the toy vehicle  10  so that that axis of rotation of the roller  34  is normal to the direction of travel. Alternatively, the wheel assembly  26  will rotate as necessary to achieve the programmed or imputed motion. This allows the toy vehicle  10  to translate when the toy vehicle  10  is in the non-orthogonal position. The toy vehicle  10  may also combine the rotating and translating movements described above so as to rotate the toy vehicle  10  while translating. This allows the toy vehicle  10  to move in any planar direction and gives the appearance that the toy vehicle  10  is gliding or hovering on the planar surface S. 
     Control circuitry  152  on the toy vehicle  10  preferably is configured to switch from holonomic motor control, in the Y-shape or “attack” mode, to straight independent motor control in the T-shaped or “interceptor” mode, driving the wheel assemblies  26   a  and  26   b  of just the left and right legs  20 ,  22 . If desired, the control circuitry  152  can be configured to provide appropriate power to the motor driving the wheel  26   c  of the rear leg  24  as well if a turning command is received while in the orthogonal mode. 
       FIGS. 8-9  are schematics of presently preferred circuits of the handheld remote control  32  and vehicle  10 . The remote control  32  ( FIG. 7 ) is used to transmit operation signals from a control circuit  152  ( FIG. 8 ) in the remote control  32  to a vehicle control circuit  150  located within the toy vehicle  10 . The remote control  32  comprises a housing  80  that contains a power supply  114  such as one or more batteries. The remote control  32  includes a control knob  82  for controlling the movement of the toy vehicle  10 . The control knob  82  is configured as a paddle-ball joystick and may be pushed in any lateral direction or twisted or both to command movement of the toy vehicle  10 . The remote control  32  also preferably includes a plurality of special effect control buttons, e.g.  84 ,  86 ,  88 ,  90 ,  92 , corresponding to first, second, third, fourth and fifth  85 ,  87 ,  89 ,  91 ,  93  switches in the control circuitry  94 , respectively, to control a variety of functions and pre-programmed settings. For example, the first control button  84  and the first switch  85  may activate the central motor  42  in the first direction to toggle the toy vehicle between the T-shaped mode and the Y-shaped mode. The second control button  86  and the second switch  87  may activate the central motor  42  in the second direction to activate the disc launcher  58 . The third control button  88  and the third switch  89  may perform the preprogrammed function of moving back and forth in the Y-shaped mode along an arcuate path and shooting discs  60  toward the general center of the arcuate path. The fourth control button  90  and the fourth switch  91  may perform the preprogrammed function of spinning about the center of the toy vehicle  10  and translating in a first direction. The fifth control button  92  and the fifth switch  93  may perform the preprogrammed function of spinning without translating. The buttons  84 ,  86 ,  88 ,  90 ,  92  may be any shape and may be positioned anywhere on the remote control  32 . Additionally, though buttons  88 ,  90 ,  92  for performing the preprogrammed functions described above are preferred, it is within the spirit and scope of the present invention that any combination of movements or functions be included as a preprogrammed function and associated with any button. 
     Referring to  FIG. 8 , the currently preferred but only exemplary control circuitry  152  includes a microprocessor  94  which receives signals from the first, second, third, fourth and fifth switches  85 ,  87 ,  89 ,  91 ,  93 . A first position sensor  96  (corresponding to the x coordinate position), a second position sensor  98  (corresponding to the y coordinate position) and a third sensor  100  (corresponding to the direction or direction and degree of rotation) communicate with microprocessor  94  through a multiplexer  102 . As shown in  FIG. 8   a , each position sensor  96 ,  98 ,  100  includes a potentiometer  104 , capacitor  106  and amplifier  108 . The microprocessor  94  then sends a signal to a transmitter circuit  110  for communicating the signal to the toy vehicle  10 . The power supply  114 , with corresponding supply lines V 1 , V 2 , power the transmitter  110  and the microprocessor  94 . It provides power to the other sub-circuits including the position sensors  96 ,  98 ,  100  respectively. An ON/OFF switch  112  is provided to turn the remote control  32  ON or OFF. 
     Referring to  FIG. 9 , the currently preferred but only exemplary vehicle control circuit  150  receives the signal from the transmitter  110  in a receiver  116 . The receiver  116  then sends the signal to a microprocessor  118 . Limit switches  132 ,  134  terminate the circuit once the toy vehicle reaches the desired mode (Y or T shaped) as sensed by limit sensors (not shown). The microprocessor  118  is in communication with first, second, third and fourth motor control circuits  120 ,  122 ,  124 ,  126  to separately and independently reversibly control the corresponding drive motors M 1 , M 2 , M 3  and the central motor  42 . The power supply  128  and an ON/OFF switch  130  are used to provide to power the toy vehicle  10  and turn the remote toy vehicle  100 N or OFF. 
     The microprocessor  118  preferably controls the various drive motors M 1 , M 2 , M 3  with pulse width modulated signals and uses a table-lookup to determine the ratio of duty cycle that is applied to each drive motors M 1 , M 2 , M 3  to get the desired vector of motion. These can be appropriately combined with other values to get the desired rotation with translation. The described system preferably employees proportional speed control. XXX refers to a 3 bit binary signal component or packet sent from the microprocessor  94  in the remote control  32 , corresponding to a direction and degree of left or right motion of the control knob  82 . YYY refers to a 3 bit binary component and packet signal similarly corresponding to forward or backward motion of the control knob  82 . Another 3 bit binary signal ZZZ (not depicted) similarly corresponds to a direction and degree rotation or twist of the control knob  82 . Each positional direction of the control knob  82  has a plurality of levels. For example, the control knob  82  can be urged to the right slightly for a first level, further to the right for a second level and completely to the right for a third level corresponding to a plurality of operating speeds, for example, a slow, e.g. maximum operation of 50% of the top speed, a medium, i.e. 70%, or a fast, i.e. 100% of the respective drive motor M 1 , M 2 , M 3 . 
     
       
         
               
               
             
               
               
               
               
               
               
               
               
             
           
               
                   
                 TABLE 1 
               
             
             
               
                   
                   
               
               
                   
                 yyy 
               
             
          
           
               
                   
                 110 
                 101 
                 100 
                 011 
                 010 
                 001 
                 000 
               
               
                 xxx 
                 M1, M2 
                 M1, M2 
                 M1, M2 
                 M1, M2 
                 M1, M2 
                 M1, M2 
                 M1, M2 
               
               
                   
               
               
                 110 
                 75% FW, 
                 83% FW, 
                 88% FW, 
                 100% FW, 
                 100% FW, 
                 100% FW, 
                 100% FW, 
               
               
                   
                 100% BW 
                 100% BW 
                 100% BW 
                 100% BW 
                 88% BW 
                 83% BW 
                 75% BW 
               
               
                 101 
                 53% FW, 
                 58% FW, 
                 62% FW, 
                 70% FW, 
                 85% FW, 
                 91% FW, 
                 100% FW, 
               
               
                   
                 100% BW 
                 91% BW 
                 85% BW 
                 70% BW 
                 62% BW 
                 58% BW 
                 53% BW 
               
               
                 100 
                 38% FW, 
                 42% FW, 
                 44% FW, 
                 50% FW, 
                 75% FW, 
                 85% FW, 
                 100% FW, 
               
               
                   
                 100% BW 
                 85% BW 
                 75% BW 
                 50% BW 
                 44% BW 
                 42% BW 
                 38% BW 
               
               
                 011 
                 0%, 
                 0%,, 
                 0%,, 
                 0%, 
                 50% FW, 
                 70% FW, 
                 100% FW, 
               
               
                   
                 100% BW 
                 70% BW 
                 100% BW 
                 0% 
                 0% 
                 0% 
                 0% 
               
               
                 010 
                 38% BW, 
                 42% BW, 
                 44% BW, 
                 50% BW, 
                 75% BW, 
                 85% BW, 
                 100% BW, 
               
               
                   
                 100% FW 
                 85% FW 
                 75% FW 
                 50% FW 
                 44% FW 
                 42% FW 
                 38% FW 
               
               
                 001 
                 53% FW, 
                 58% BW, 
                 62% BW, 
                 70% BW, 
                 85% BW, 
                 91% BW, 
                 100% BW, 
               
               
                   
                 100% FW 
                 91% FW 
                 85% FW 
                 70% FW 
                 62% FW 
                 58% FW 
                 53% BW 
               
               
                 000 
                 75% BW, 
                 83% BW, 
                 88% BW, 
                 100% BW, 
                 100% BW, 
                 100% BW, 
                 100% BW, 
               
               
                   
                 100% FW 
                 100% FW 
                 100% BW 
                 100% FW 
                 88% FW 
                 83% FW 
                 75% FW 
               
               
                   
               
             
          
         
       
     
     
       
         
               
               
             
               
               
               
               
               
               
               
               
             
           
               
                   
                 TABLE 2 
               
             
             
               
                   
                   
               
               
                   
                 yyy 
               
             
          
           
               
                   
                 110 
                 101 
                 100 
                 011 
                 010 
                 001 
                 000 
               
               
                 xxx 
                 M1, M2, M3 
                 M1, M2, M3 
                 M1, M2, M3 
                 M1, M2, M3 
                 M1, M2, M3 
                 M1, M2, M3 
                 M1, M2, M3 
               
               
                   
               
               
                 110 
                 0%, 
                 30% FW, 
                 50% FW, 
                 100% FW, 
                 100% FW, 
                 100% FW, 
                 100% FW, 
               
               
                   
                 100% BW, 
                 100% BW, 
                 100% BW, 
                 100% BW, 
                 50% BW, 
                 30% BW, 
                 0%, 
               
               
                   
                 100% FW 
                 70% FW 
                 50% FW 
                 0% 
                 50% BW 
                 70% BW 
                 100% BW 
               
               
                 101 
                 10.5% BW, 
                 0%, 
                 25% FW, 
                 70% FW, 
                 75% FW, 
                 70% FW, 
                 80.5% FW, 
               
               
                   
                 80.5% BW, 
                 70% BW, 
                 75% BW, 
                 70% BW, 
                 50% BW, 
                 0%, 
                 10.5% BW, 
               
               
                   
                 100% FW 
                 70% FW 
                 50% FW 
                 0% 
                 25% BW 
                 70% BW 
                 100% BW 
               
               
                 100 
                 17.5% FW, 
                 12.25% BW, 
                 0%, 
                 50% FW, 
                 50% FW, 
                 47.25% FW, 
                 67.5% FW, 
               
               
                   
                 67.5% BW, 
                 47.25% BW, 
                 50% BW, 
                 50% BW, 
                 0% BW, 
                 12.25% FW, 
                 17.5% BW, 
               
               
                   
                 100% FW 
                 70% FW 
                 50% FW 
                 0% 
                 50% BW 
                 70% BW 
                 100% BW 
               
               
                 011 
                 26% BW, 
                 21% BW, 
                 19% BW, 
                 0%, 
                 19% FW, 
                 21% FW, 
                 26% FW, 
               
               
                   
                 26% BW, 
                 21% BW, 
                 19% BW, 
                 0%, 
                 19% FW, 
                 21% FW, 
                 26% FW, 
               
               
                   
                 100% FW 
                 70% FW 
                 50% FW 
                 0% 
                 50% BW 
                 70% BW 
                 100% BW 
               
               
                 010 
                 67.5% BW, 
                 47.25% BW, 
                 50% BW, 
                 50% BW, 
                 0%, 
                 12.25% FW, 
                 17.5% FW, 
               
               
                   
                 17.5% BW, 
                 12.25% BW, 
                 0%, 
                 50% BW, 
                 50% FW, 
                 47.25% FW, 
                 67.5% FW, 
               
               
                   
                 100% FW 
                 70% FW 
                 50% FW 
                 0% 
                 50% BW 
                 70% BW 
                 100% BW 
               
               
                 001 
                 80.5% BW, 
                 70% BW, 
                 75% BW, 
                 70% BW, 
                 25% BW, 
                 0%, 
                 17.5% FW, 
               
               
                   
                 10.5% BW, 
                 0%, 
                 50% FW, 
                 70% FW, 
                 75% FW, 
                 70% FW, 
                 67.5% FW, 
               
               
                   
                 100% FW 
                 70% FW 
                 25% FW 
                 0% 
                 50% BW 
                 70% BW 
                 100% BW 
               
               
                 000 
                 100% BW, 
                 100% BW, 
                 100% BW, 
                 100% BW, 
                 50% BW, 
                 30% BW, 
                 10.5% FW, 
               
               
                   
                 0%, 
                 30% FW, 
                 50% FW, 
                 100% FW, 
                 100% FW, 
                 100% FW, 
                 80.5% FW, 
               
               
                   
                 100% FW 
                 70% FW 
                 50% FW 
                 0% 
                 50% BW 
                 70% BW 
                 100% BW 
               
               
                   
               
             
          
         
       
     
     Tables 1 and 2 show exemplary PWM ratios that may be used to control power supplied by the vehicle microprocessor  118  to the various drive motors M 1 , M 2 , M 3  and drive the toy vehicle  10  in the direction and at the speed identified by the XXX/YYY binary codes generated and transmitted by the remote control  32 . In the T-shaped mode ( FIG. 10A ) as shown in Table 1, only M 1  and M 2  PWM ratios, corresponding to the drive motors M 1 , M 2  in the left and right legs  20 ,  22 , respectively, are generated, though, as mentioned above, it is within the spirit and scope of the present invention that the motor (M 3 ) of the wheel assembly  26  on the rear leg  24  be activated as well. Preferably, the remote control  32  generates and the toy vehicle  10  uses seven XXX outputs (corresponding to three left, a central and three right positions of the control knob  82 ). They also generate or use, respectively, seven YYY outputs (corresponding to three up/forward, a central and three down/rearward positions of the control knob  82 ). Collectively these provide one stationary command and forty-eight commanded translational movements and position of the toy vehicle  10  based only on planar (X/Y) movement of the control knob  82 . For example, when the control knob  82  is untouched, the XXX output is 011 and the YYY output is 011. The drive motors M 1  and M 2  are provided 0% power such that the toy vehicle  10  remains stationary. When the control knob  82  is urged to the maximum position forward, the XXX output is 110 (top row) and the YYY output is 011 (center column) The drive motor M 1  of the left leg  20  is provided with 100% “forward” (“FW” or “CW”) power and the drive motor M 2  of the right leg  22  is provided with 100% “backward” (“BW” or “CCW”) power (see  FIG. 10   a  for drive motor M 1 , M 2 , M 3  directions) such that the toy vehicle  10  moves at its maximum speed forward. When the control knob  82  is urged completely to the maximum right and upward (northeast) position, the XXX output is 000 (rightmost column) and the YYY output is 110 (topmost row). The drive motor M 1  of the left leg  20  is provided with 100% “forward” power but the drive motor M 2  of the right leg  22  is provided with only 75% “backward” power such that the toy vehicle  10  moves forward while turning in a clockwise, viewing the toy vehicle  10  from above, direction. As the control knob  82  is moved downward along the right side of the remote control  32 , less power is supplied to the right leg drive motor M 2  resulting in a tighter right forward turn of the vehicle  10  until an only right turn movement at the right center position of the control knob (000/011). 
     In the Y-shaped mode, a similar method is used except the drive motor M 3  of the rear side leg  24  is also activated to achieve holonomic movement. Table 2 is read in the same way as that of Table 1 except that the movement of the toy vehicle is with respect to the then forward facing position of the toy vehicle. For example, a left-most horizontal movement of the control knob would generate a 110/011 XXX/YYY output from the remote control  32  and a leftward sliding movement of the toy vehicle  10  from its then current position without rotation. No linear (X-Y) movement of the control knob in this holonomic configuration of the vehicle  10  and vehicle microprocessor mode of operation will cause the toy vehicle to rotate. Twist (ZZZ) control must be added. 
     The ZZZ output, or twist of the control knob  82 , is not included either the T-shaped mode or the Y-shaped mode data of Tables 1 and 2. There should be at least three twist control values (ZZZ) for clockwise, counterclockwise and neutral/no twist control. Preferably multiple values of level or degree of twist can be implemented. For example, seven ZZZ values would provide three levels of twist (slight twist, moderate twist and full twist) in either direction. 
     Twist can be combined with the planar (XXX/YYY) PWM ratios in either Tables 1 or 2 in various ways. For example, a separate table of ZZZ PWM values for can be created for each motor and combined with the values for the same motors for the commanded planar movement from Tables 1 and 2. Alternatively, an algorithm can be created to apply to the ratio values of the Tables 1 and 2 to alter those values for use. The algorithm might consist of three different equations or scale factors, one for each different degree of twist. Where new PWM values would exceed 100%, those that would have exceeded 100% would be limited to 100%. Alternatively, the motor ratios exceeding 100% can be scaled down to 100% and the other motor ratios scaled down appropriately. That might be exactly equal downscaling or a proportional downscaling. No motor PWM ratio would be more than 100%. Alternatively, motor PWM values may be determined empirically and loaded into a plurality of different tables so that the ZZZ value would be used to identify one of the tables to be used and the XXX/YYY values used to identify a particular sets of motor PWM ratios to use with the commanded degree and direction twist. 
     It will be appreciated by those skilled in the art that changes could be made to the embodiment described above without departing from the broad inventive concept thereof. For example, although the invention is described herein in terms of the preferred, three-legged embodiment with six rollers on each leg, the present invention could also comprise a vehicle having additional legs and more or less rollers. The toy vehicle  10  is preferably controlled via radio (wireless) signals from the remote control  32 . However, other types of controllers may be used including other types of wireless controllers (e.g. infrared, ultrasonic and/or voice-activated controllers) and even wired controllers and the like. Alternatively, the toy vehicle  10  may be self-controlled with or without preprogrammed movement. Sensors may be provided responsive to movement of the legs  20 ,  22 ,  24  and the surrounding environment for example, contact/pressure switches or proximity detector spaced around the outer periphery of the toy vehicle  10 , to automatically adjust the movement of the toy vehicle  10  with respect to obstacles. The toy vehicle  10  can be constructed of, for example, plastic or any other suitable material such as metal or composite materials. Also, the dimensions of the toy vehicle  10  shown can be varied, for example making components of the toy vehicle smaller or larger relative to the other components. It is understood, therefore, that changes could be made to the preferred embodiment 10 of the toy vehicle described above without departing from the broad inventive concept thereof. It is understood, therefore, that this invention is not limited to the particular embodiment disclosed, but is intended to cover modifications within the spirit and scope of the present application. 
     It will be appreciated by those skilled in the art that changes could be made to the embodiments described above without departing from the broad inventive concept thereof. It is understood, therefore, that this invention is not limited to the particular embodiments disclosed, but it is intended to cover modifications within the spirit and scope of the present invention as defined by the appended claims.