Control of a personal transporter based on user position (US7275607)

Application Number	Filed	Pub. Date	Title
US2002000308850	2002-12-03	2004-09-14	Yaw control for a personal transporter
US2002000044590	2002-01-11
US2000000635936	2000-08-10	2002-04-09	Personal mobility vehicles and methods
US1999000325978	1999-06-04	2001-10-16	Personal mobility vehicles and methods


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	First Claim: Show all 9 claims			1. A controller for a transporter having at least one primary ground-contacting element, the transporter characterized by a roll angle, the controller comprising: a. an input adapted to receive specification by a user of a desired yaw, yaw rate, and direction of motion of the transporter, at least the desired yaw and yaw rate being based on a detected body orientation of the user; b. a pitch state estimator for sensing a pitch of the transporter and outputting a pitch state signal; and c. a processor of a kind that generates a command signal governing motion of the at least one ground-contacting element based at least on the user-specified yaw and yaw rate received by the input, in conjunction with the pitch state signal based on the pitch of the transporter, in such a manner as to maintain balance of the transporter in the course of achieving the specified yaw and direction of motion of the transporter.
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	Forward References:			Show 10 U.S. patent(s) that reference this one

U.S. References:

Go to Result Set: All U.S. references | Forward references (10) | Backward references (110) | Citation Link

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* some details unavailable

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