In 2010, Terra Engineering won a Phase I SBIR from the US Army for a High Mobility Robotic Platform. The requirement was to create a very large stroke suspension system for an Army squad escort vehicle. Below are some pictures of the design and hardware created.
The full vehicle shown above had the ability to climb and descend a 30 degree slope while keeping the payload platform level. Each suspension had over 50 inches of static travel and 18 inches of dynamic travel. The six wheel omni-directional drive allows the vehicle to traverse a 1 meter gap at full speed.