Patent ID: 7380618

Claim:
An intelligent wheel apparatus comprising: a generally circular wheel defining an outer circumference and including a hub adapted for rotation about an axis in a first direction to move the outer circumference of the wheel over a travel surface; a controller coupled to the wheel; a plurality of substantially radially extendable spoke mechanisms spaced around the hub and fastened to the wheel; means for moving a spoke in each spoke mechanism between an extended position and a retracted position in response to commands from the controller, wherein a tip of the spoke extends beyond the outer circumference of the wheel when the spoke is moved to an extended position; an obstacle sensor associated with each spoke mechanism and coupled to the controller, wherein each obstacle sensor is capable of detecting a discontinuity in the travel surface within a predetermined field of view; and wherein the controller operably calculates a virtual surface over a detected discontinuity within the travel surface and commands one or more spoke mechanisms to move their respective spokes so that the outer circumference of the wheel substantially follows the calculated virtual surface as the intelligent wheel apparatus moves in the first direction.