Control of a transporter based on attitude (US7210544)

at least one ground-contacting element coupled to the support platform in such a manner that the orientation of the support platform with respect to the surface beneath and in contact with the at least one ground-contacting elements is capable of variation, the orientation referred to as an attitude;

a motorized drive arrangement for driving the at least one ground-contacting elements;

a sensor module for generating a signal characterizing the attitude of the support platform wherein the sensor module includes at least one distance sensor for measuring a distance characteristic of the attitude of the platform; and

a controller for commanding the motorized drive arrangement to apply a torque to one or more of the ground-contacting elements as a function of the attitude of the support platform based upon the signal generated by the sensor module.

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U.S. References:

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* some details unavailable

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