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 Title: |
US20030205419A1:
Riderless stabilization of a balancing transporter
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Kamen, Dean L.; Bedford, NH, United States of America
Field, J. Douglas; Bedford, NH, United States of America
Morrell, John B.; Bedford, NH, United States of America
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| Assignee: |
None
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| Published / Filed: |
2003-11-06
/ 2003-06-13
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| Application Number: |
US2003000461720
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| IPC Code: |
Advanced:
A61G 5/04;
A61G 5/06;
B60L 11/18;
B60L 15/20;
B62D 57/00;
B62K 3/00;
B62M 7/00;
B62M 23/02;
A61G 5/10;
A61G 5/12;
B60K 7/00;
IPC-7:
B62D 61/00;
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| ECLA Code: |
B62K3/00D; B60L15/20E; B62D57/00; L60K7/00; L60L200/16; L60L260/34; L62K204/00; Y02T10/70; Y02T10/72D6;
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| U.S. Class: |
180/021;
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| Priority Number: |
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| Abstract: |
A method for stabilizing a balancing transporter under riderless conditions. The balancing transporter is characterized by a center of mass, and has two laterally disposed wheels and a region of contact with an underlying surface. In accordance with the method, the absence of a user aboard the transporter is first detected. Then a desired transporter pitch is determined such as to establish a condition of stasis wherein the center of mass is disposed directly above the region of contact between the balancing transporter and the underlying surface. Finally, a torque is applied to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch. The torque may include coadded terms where the terms are, respectively, proportional to a pitch error, a pitch rate, a wheel rate, and an integral representing the wheel rotation that was required to bring the transporter to the condition of stasis.
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| Attorney, Agent or Firm: |
BROMBERG & SUNSTEIN LLP ; 125 SUMMER STREET
, BOSTON
, MA
02110-1618 United States of America
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Parent Case: |
The present application is a continuation-in-part of copending U.S. application Ser. No. 09/325,976, filed Jun. 4, 1999, which is a continuation in part of U.S. application Ser. No. 08/479,901, filed Jun. 7, 1995, now issued as U.S. Pat. No. 5,975,225, which is a continuation in part of U.S. application Ser. No. 08/384,705, filed Feb. 3, 1995, now issued as U.S. Pat. No. 5,971,091, which is a continuation in part of U.S. application Ser. No. 08/250,693, filed May 27, 1994, now issued as U.S. Pat. No. 5,701,965, which in turn is a continuation in part of U.S. application Ser. No. 08/021,789, filed Feb. 24, 1993, now abandoned, from which the present application claims priority, all of which applications are incorporated herein by reference. The present application also claims priority from U.S. Provisional Application No. 60/389,136, filed Jun. 14, 2003.
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| Family: |
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First Claim:
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What is claimed is:
1. A method for maintaining stability of a riderless balancing transporter having two laterally disposed wheels, the balancing transporter having a region of contact with an underlying surface and characterized by a center of mass, the method comprising: a. detecting the absence of a user aboard a balancing transporter; b. determining a desired transporter pitch such as to establish the center of mass directly above the region of contact between the balancing transporter and the underlying surface; c. applying a torque to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
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