Patent ID: 8496077

Claim:
A robotic two-wheeled vehicle comprising: a first wheel; a second wheel; a connection body, the connection body being interposed between the first wheel and the second wheel, the first wheel, the second wheel and the connection body being aligned along, and centered to, a longitudinal axis, wherein the connection body comprises: i) a first drum coaxially located in a central region of the connection body, the first drum supporting a hollow arm projecting radially from the first drum; and ii) a second drum coaxially located inside the first drum, the robotic two-wheeled vehicle further comprising: a first actuator adapted to drive and rotate the first wheel; a second actuator adapted to drive and rotate the second wheel; a third actuator adapted to drive and rotate the first drum; and a fourth actuator adapted to drive and rotate the second drum, the first actuator, the second actuator, the third actuator and the fourth actuator being controlled independently of each other.