A vehicle (10) includes a pair of hybrid track assemblies (12) mounted on opposite sides of the longitudinal axis (A) of the framework (11) of the vehicle (10) for cooperating to steer the vehicle (10). Each of the hybrid track assemblies (12) includes a first lead track (14) entrained about a first plurality of wheels (16) and a second lead track (18) entrained about a second plurality of wheels (20). A plurality of first lead rollers (26) are rotatably supported in spaced and parallel relationship to one another along the longitudinal axis of the first lead track (14). A plurality of second lead rollers (38) are rotatably supported in spaced and parallel relationship to one another along the longitudinal axis of the second lead track (18). The assembly is characterized by the first and second axes of the first lead rollers (26) and second lead rollers (38) being disposed in opposite directions, i.e., a herringbone configuration. By independent drive of each of the four tracks to provide various combinations of drive direction and speed for each respective track, the force vectors created by the rollers (26) and (38) engaging the surface add and subtract to effect movement in any direction.
Chhabra, Nitin and Wilkinson, Stuart, "Hybrid track for a vehicle" (2001). USF Patents. 809.
University of South Florida