It seems there is some complexity and other patents involved. From their SB2 form: A form of our Omni-Directional technology was originally patented in 1973 a

It seems there is some complexity and other patents involved. From their SB2 form: A form of our Omni-Directional technology was originally patented in 1973 and was sold to the US Navy. We secured a transfer of this technology from the Navy in 1996 under the terms of a CRADA agreement (Cooperative Research and Development Agreement) and we have worked since that time to commercialize Omni-Directional products. We received 3 patents regarding the "redesign" of the wheel. In addition, we have a license agreements for the algorithms used to control vehicular movement, and a patent for this technology has been applied for. (...) The patent for the Omni-Directional wheel expired in 1990. https://www.sec.gov/Archives/edgar/data/1081372/000101376207000731/formsb2.htm https://www.sec.gov/Archives/edgar/data/1081372/000101376207...