Patent ID: 8789629

Claim:
A terrain traversing device comprising: a first microspine wheel assembly of a first driving wheel assembly, the first microspine wheel assembly comprising a circular planar rotor with a plurality of microspine hooks arranged on a circumferential edge of said circular planar rotor, each individual microspine hook mounted on an independently flexible suspension that accommodates a variable engagement angle between said individual microspine hook and an irregularity on a terrain surface when the circular planar rotor is rotated in one of a clockwise or a counter-clockwise direction to urge the terrain traversing device to traverse the terrain, a first axle, wherein the first microspine wheel assembly is mounted on the first axle whereby the circular planar rotor of the first microspine wheel assembly is rotatable in one of a clockwise or a counter-clockwise direction to urge the terrain traversing device to traverse the terrain; a second microspine wheel assembly of the first driving wheel assembly, the first and the second microspine wheel assemblies being mounted adjacent to each other on the first axle with the respective circular planar rotors parallel to each other; and a third and a fourth microspine wheel assembly of a second driving wheel assembly, the third and the fourth microspine wheel assemblies being mounted adjacent to each other on a second axle with the respective circular planar rotors parallel to each other.