Non-linear control of a balancing vehicle
US6827163B2 · kind B2 · utility
106Cited by
110References
5Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jun 12, 2003 |
| Grant date | Dec 7, 2004 |
| Priority date | — |
| Expiry date | Jun 12, 2023 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/72
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Methods of controlling the transporter are described that allow the dynamic behavior of the transporter to more closely match preferences of a rider. These methods include providing preferential responsiveness to change in pitch angles and pitch rates.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.