Apparatus and method for control of a vehicle (US8170780)

a controller coupled to the drive, for governing the operation of the drive at least in response to position of the center of gravity of the vehicle to dynamically control balancing of the vehicle,

wherein the enclosure is coupled to the support and comprising

a structure coupling the support and the enclosure to the ground-contacting elements, the structure allows for variation in the position of the center of gravity, and

wherein the structure includes rails allowing the enclosure and support to slide with respect to the ground-contacting elements.

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U.S. References:

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* some details unavailable

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