Vehicle control by pitch modulation (US7690452)

2005-10-11	US2005000249170
2004-11-17	US2004000990715
2003-06-12	US2003000460053
2003-06-11	US2003000459173
2004-10-08	US2004000617244P
2002-06-14	US2002000388723P
2002-06-11	US2002000387641P

Abstract:

A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.

Attorney, Agent or Firm:

McCormick, Paulding & Huber LLP ;

Primary / Asst. Examiners:

Morris, Lesley; Scharich, Marc A

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Related Applications:

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Application Number	Filed	Pub. Date	Title
US2004000990715	2004-11-17
US2003000460053	2003-06-12	2004-12-07	Non-linear control of a balancing vehicle
US2003000459173	2003-06-11	2006-03-28	Hybrid human/electric powered vehicle


	Parent Case:			PRIORITY The present application claims priority from U.S. Provisional Patent Application, Ser. No. 60/617,244, filed Oct. 8, 2004. The present application is also a continuation-in-part of U.S. patent application, Ser No. 10/990,715, filed Nov. 17, 2004, which is a continuation of U.S. patent application, Ser No. 10/460,053, now U.S. Pat. No. 6,827,163, filed Jun. 12, 2003, which claims priority to U.S. Provisional Patent Application, Ser. No. 60/388,723 filed Jun. 14, 2002. The present application is also a continuation-in-part of U.S. patent application, Ser No. 10/459,173, which claims priority from U.S. Provisional Application, Ser. No. 60/387,641. All of the above referenced patents and applications are hereby incorporated by reference in their entirety.
	Family:			Show 363 known family members
	First Claim: Show all 8 claims			1. An apparatus for pitch stabilization of the motion of a vehicle having at least one forward wheel and at least one aft wheel, the apparatus comprising: a sensor for sensing a force on the forward wheel normal to an instantaneous direction of motion of the vehicle; a motor actuator for driving the aft wheel; and a controller for applying a torque to the aft wheel on the basis of a control law based at least on the normal force on the forward wheel; wherein the controller causes the motor actuator to apply a periodic torque to the at least one aft wheel to induce a small pitch modulation.
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	Forward References:			Show 2 U.S. patent(s) that reference this one

U.S. References:

Go to Result Set: All U.S. references | Forward references (2) | Backward references (114) | Citation Link

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* some details unavailable

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