Patent ID: 8413756

Claim:
A movable and steerable device comprising: a platform; first, second, third and fourth wheel assemblies connected to the platform, each of said wheel assemblies having wheels which are steerable into different directions; at least two of said wheel assemblies being actively steered wheel assemblies, whose positions are moved to steer said platform; at least two of said wheel assemblies being driven wheel assemblies that include a drive portion which drives movement of said platform; a drive motor, driving a drive loop of, said drive loop connected all of said driven wheel assemblies, and providing drive power for said at least first and second wheel assemblies which drives said first and second wheel assemblies in a desired direction; a steering motor, driving a steering loop of material, said steering loop connected to all of said steered wheel assemblies, and steering said steered wheel assemblies, each of said wheel assemblies having first and second driven disk shaped portions, where said first driven disk shaped portion rotates in a horizontal plane and is connected to and drivable by said drive loop of material and where said second driven disc shaped portion also rotates in the horizontal plane and is connected to be driven by said steering loop of material, said first and second driven disc shaped portions being concentric to one another and having different outer diameters.