1960 – Cycloidal Propulsion Omnidirectional Drive – Howard Hansen (American)

CLARK'S experimental cycloidal machine. Two non-drive rear wheels counter torque. Source: Mechanix Illustrated, April 1963. CYCLOIDAL PROPULSION A revolution in land vehicles may come from this new invention which can provide perfect maneuverability. PUT a pencil at the top of a sheet of paper and start making loops—as if you were practicing a capital O, …

1983 – “Kludge” Omnidirectional Mobile Robot – John M. Holland (American)

1983 – "Kludge" Omnidirectional Mobile Robot by John M. Holland. Kludge with legs contracted. Kludge at a 1984 exhibition. John M. Holland. The focus in this post is on the unique mobility base, and not on its navigation and sensor qualities. Patent Information: Publication number    US4573548 A Publication date    4 Mar 1986 Filing date    23 …