Patent ID: 8434576

Claim:
A mobile apparatus, comprising: a first articulating section comprising a leading traction control assembly including multiple points of contact inclined at a forward angle; a second articulating section comprising an intermediate traction control assembly; a propulsion system configured to coordinate movement of the leading traction control assembly and the intermediate traction control assembly; a connector operatively coupling the first articulating section to the second articulating section, wherein the first articulating section is configured to articulate relative to the second articulating section in response to one or more of the multiple points of contact of the leading traction control assembly coming into contact with an obstacle; and a bias assembly configured to exert a continuous compression force against at least one of the first articulating section and the second articulating section in order to maximize the number of points of contact between the mobile apparatus and the obstacle, wherein the bias assembly comprises: a first bias element coupled between the first articulating section and the connector, wherein the first bias element is configured to exert a first compression force which is opposite in direction to the articulation of the first articulating section; and a second bias element coupled between the second articulating section and the connector, wherein the second articulating section is configured to articulate relative to the first articulating section, and wherein the second bias element is configured to exert a second compression force which is opposite in direction to the articulation of the second articulating section.