Patent ID: 7426970

Claim:
A vehicle, comprising: a payload platform; an offset link with a proximal end and a distal end, said offset link proximal end pivotally connected with a vertically aligned pivot axis to said payload platform, and said offset link distal end positioned a horizontal distance from said vertically aligned pivot axis; a first extendable member with a proximal end, a distal end, a first length and a first extension motor, said first extendable member proximal end pivotally connected to said offset link distal end, wherein said first extension motor changes said first length, and wherein said first length and said vertically aligned pivot axis define a first swing angle; a first rotating motor connected to said first extendable member and said offset link, wherein said first rotating motor rotates said first extendable member and changes said first swing angle; a first wheel with a first central axis, said first wheel rotatably connected to said first extendable member distal end; and a first drive motor coupled to said first wheel, wherein said first drive motor rotates said first wheel around said first wheel central axis.