Patent ID: 7730978

Claim:
An all-terrain drive assembly comprising: a robotic drive platform including an upper platform surface and a side platform periphery; a drive motor; a first drive engagement element; a drive transfer chamber in communication with said drive motor and said drive engagement element, said drive transfer chamber transferring drive from said drive motor to said drive engagement element; at least one omni-wheel drive assembly mounted to said side periphery, each of said omni-wheel drive assembly comprising: a main ellipsoidal drive element defining a main ellipsoid axis, a minor ellipsoid plane, a first ellipsoid end portion, a second ellipsoid end portion, and an outer ellipsoid surface, said drive engagement element mounted to said first ellipsoid end portion and selectively transferring rotational drive to said main ellipsoidal drive element around said main ellipsoid axis; a plurality of roller elements mounted around a minor ellipsoid periphery of said main ellipsoidal element, each of said roller elements orientated to provide friction reduced rolling in a main ellipsoid axis direction and traction perpendicular to said main ellipsoid axis direction.