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Title: US5975225: Transportation vehicles with stability enhancement using CG modification
[ Derwent Title ]

Country: US United States of America

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18 pages

 
Inventor: Kamen, Dean L.; Bedford, NH
Ambrogi, Robert R.; Manchester, NH
Heinzmann, Richard Kurt; Francestown, NH

Assignee: DEKA Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
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Published / Filed: 1999-11-02 / 1995-06-07

Application Number: US1995000479901
IPC Code: Advanced: A61G 5/04; A61G 5/06; A61G 5/14; B62D 57/00; A61G 5/10; A61G 5/12; B60K 7/00;
IPC-7: B62D 61/12;

ECLA Code: A61G5/04; A61G5/06A; A61G5/06B2; A61G5/06D; A61G5/14; B62D57/00; B62K3/00D; K61G5/10S2; K61G5/10S10; K61G5/10S14; K61G5/12E; K61G5/12H; K61G203/14; K61G203/20; L60K7/00;

U.S. Class: Current: 180/007.1; 180/008.2; 180/021; 180/065.8; 180/907; 280/005.26; 701/124;
Original: 180/007.1; 180/008.2; 180/021; 180/065.8; 180/907; 280/005.26; 701/124;

Field of Search: 280/5.2,5.26,5.28,5.32,78,208,209,DIG. 10 180/7.1,8.1,8.2,8.3,8.5,8.7,21,209,65.1,901,907

Priority Number:
1995-06-07  US1995000479901
1995-02-03  US1995000384705
1994-05-27  US1994000250693
1993-02-24  US1993000021789

Abstract:     There is provided, in a preferred embodiment, a vehicle for transporting a payload (which may but need not include a human subject) over ground having a surface that may be irregular. This embodiment has a support for supporting the payload. A ground-contacting module, movably attached to the support, serves to suspend the payload in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the payload over the surface. A CG modifying arrangement is provided for actively modifying the location of the center of gravity of the assembly. Finally, the embodiment has a CG control loop, in which the CG modifying arrangement is included, for dynamically enhancing stability of the vehicle by operation of the CG modifying means based on at least one of motion or orientation of the vehicle.

Attorney, Agent or Firm: Bromberg & Sunstein LLP ;

Primary / Asst. Examiners: Boehler, Anne Marie;

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Related Applications: Go to Result Set: 28 patent(s) that list this one as related
Application Number Filed Patent Pub. Date  Title
US1995000384705 1995-02-03       
US1994000250693 1994-05-27    1997-12-30  Human transporter
US1993000021789 1993-02-24       


       
Parent Case:     This application is a continuation in part of U.S. application Ser. No. 08/384,705, filed Feb. 3, 1995, which is a continuation in part of U.S. application Ser. No. 08/250,693, filed May 27, 1994, now U.S. Pat. No. 5,701,965 which in turn is a continuation in part of now abandoned U.S. application Ser. No. 08/021,789, filed Feb. 24, 1993 now abandoned. These related applications are hereby incorporated herein by reference.

Family: Show 363 known family members
First Claim:
Show all 4 claims		 What is claimed is:     1. A vehicle for transporting a payload over ground having a surface that may be irregular, the vehicle comprising:
  • (a) a support for supporting the payload;
  • (b) a ground-contacting module, movably attached to the support for suspending the payload in the support over the surface, the orientation of the ground-contacting module defining fore-aft and lateral planes; the support and ground-contacting module being components of an assembly; the ground-contacting module having:
    • (i) a module drive for moving the ground-contacting module in relation to the support; and
    • (ii) a set of clusters of wheels, the set including exactly two clusters, each cluster having a plurality of wheels for contacting the ground, each cluster being rotatably mounted on, and motor-driven about, a laterally disposed central axis common to both clusters of the set, each of the wheels being rotatably mounted about a wheel axis, all the wheel axes being parallel to the central axis and pairwise disposed at fixed angles with respect to the central axis, the wheels capable of being motor-driven independently of either cluster, ground contact of the ground-contacting module being limited to the wheels of the clusters;
  • (c) a motorized drive, mounted to the assembly, for causing unassisted locomotion of the assembly and the payload over the surface;
  • (d) CG modifying means for actively modifying the location of the center of gravity of the assembly with payload; and
  • (e) a CG control loop in which the CG modifying means is included for dynamically creating stability of the vehicle in the fore-aft plane by operation of the motorized drive to vary, among other things, angular orientation of the assembly in the fore-aft plane, such stability being created even while the assembly experiences varying forces and accelerations.
    •


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Forward References: Show 80 U.S. patent(s) that reference this one

       
U.S. References: Go to Result Set: All U.S. references   |  Forward references (80)   |   Backward references (5)   |   Citation Link

Buy
PDF		 Patent  Pub.Date  Inventor Assignee   Title
Get PDF - 17pp US3288234  1966-11 Feliz   Stair climbing conveyance
Get PDF - 7pp US4709772  1987-12 Brunet   Motorized moving device
Get PDF - 11pp US4790548  1988-12 Decelles et al.   Climbing and descending vehicle
Get PDF - 15pp US4794999  1989-01 Hester   Wheelchair and method of operating same
Get PDF - 29pp US5248007  1993-09 Watkins et al.  Quest Technologies, Inc. Electronic control system for stair climbing vehicle
       
Foreign References:
Buy
PDF		 Publication Date IPC Code Assignee   Title
Buy PDF FR0980237 1951-05  B62B 9/02   Voiture d'enfant ou poussette à chenilles 
  JP52044933 1977-04       
  JP57087766 1982-06       
  JP63305082 1988-12       
Buy PDF- 20pp GB2139576 1984-11  A61G 5/00 MAVISPACE LTD STAIR CLIMBING DEVICES 


Other Abstract Info: DERABS G1998-076064 DERABS G1999-619291 DERABS G1998-455581 DERABS G1999-609847 DERABS G1999-619291

Continuity Data:
Application Number Filed Notes
US1995000479901 1995-06-07  is a related to the prior publication
     US20020170754A1 issued 2002-11-21  Controlled balancing toy
US1995000479901 1995-06-07  is a related to the prior publication
     US20030063910A1 issued 2003-04-03  Fender and management system thereof
US1995000479901 1995-06-07  is a related to the prior publication
     US20030183435A1 issued 2003-10-02  Balancing personal vehicle
US1995000479901 1995-06-07  is a related to the prior publication
     US20030231022A1 issued 2003-12-18  Speed limiting for a balancing transporter
US1995000479901 1995-06-07  is a related to the prior publication
     US20040007425A1 issued 2004-01-15  Self-balancing ladder and camera dolly
US1995000479901 1995-06-07  is a related to the prior publication
     US20040011573A1 issued 2004-01-22  Guided control of a transporter
US1995000479901 1995-06-07  is a related to the prior publication
     US20040069543A1 issued 2004-04-15  Motion control of a transporter
US1995000479901 1995-06-07  is a related to the prior publication
     US20040118622A1 issued 2004-06-24  Speed limiting for a balancing transporter accounting for variations in system capability
US1995000479901 1995-06-07  is a related to the prior publication
     US20060249313A1 issued 2006-11-09  Motion control of a transporter
US1995000479901 1995-06-07  is a related to the prior publication
     US20080099265A1 issued 2008-05-01  Guided Control of a Transporter
US2006000471241 2006-06-20  is a division of
US2003000617608  2003-07-11   (granted)
     US7090040 issued 2006-08-15   Motion control of a transporter
11471241   is a division of
US2003000617608  2003-07-11
     US7090040 issued 2006-08-15   Motion control of a transporter
US2007000926606 2007-10-29  is a division of
US2003000462379  2003-06-16   (pending) [presumed granted]
     US7546889 issued 2009-06-16   Guided control of a transporter
US1994000250693   is a continuation in part of
US2003000462379     (pending) [presumed granted]
     US7546889 issued 2009-06-16   Guided control of a transporter
11926606   is a division of
US2003000462379  2003-06-16
     US7546889 issued 2009-06-16   Guided control of a transporter
US2003000669879 2003-09-23  is a continuation in part of
US2003000460970  2003-06-13   (pending) [presumed granted]
     US6874591 issued 2005-04-05   Speed limiting for a balancing transporter
US2003000669879   is a continuation in part of
US2003000460970  2003-06-13   (pending) [presumed granted]
     US6874591 issued 2005-04-05   Speed limiting for a balancing transporter
US1995000384705   is a continuation in part of
US2003000460970     (pending) [presumed granted]
     US6874591 issued 2005-04-05   Speed limiting for a balancing transporter
US1995000479901 1995-06-07  is a non-provisional of provisional
US2002000395299P  2002-07-12
US1995000479901 1995-06-07  is a non-provisional of provisional
US2002000389136P  2002-06-14
US1995000479901 1995-06-07  is a non-provisional of provisional
US2002000389134P  2002-06-14
US1995000479901 1995-06-07  is a non-provisional of provisional
US2002000388937P  2002-06-14
US1995000479901 1995-06-07  is a non-provisional of provisional
US2002000388845P  2002-06-14
US1995000479901 1995-06-07  is a non-provisional of provisional
US2002000388723P  2002-06-14
US1995000479901 1995-06-07  is a non-provisional of provisional
US2002000347800P  2002-01-10
US2003000462379 2003-06-16  is a continuation in part of
US2002000308888  2002-12-03   (pending)
US2003000462379   is a continuation in part of
US2002000308888  2002-12-03   (abandoned)
US1993000021789   is a continuation in part of
US2002000308888  2002-12-03   (abandoned)
US1995000479901 1995-06-07  is a non-provisional of provisional
US2001000336601P  2001-12-05
US2002000159700 2002-05-29  is a continuation in part of
US2000000619086  2000-07-19   (abandoned)
US2002000159700   is a continuation in part of
US2000000619086  2000-07-19   (abandoned)
US2003000374689 2003-02-26  is a division of
US1999000456347  1999-12-08   (granted)
     US6543564 issued 2003-04-08   Balancing personal vehicle
US2003000374689   is a division of
US1999000456347  1999-12-08
     US6543564 issued 2003-04-08   Balancing personal vehicle
US2007000928757 2007-10-30  is a division of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2006000471241 2006-06-20  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000617608 2003-07-11  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000617608   is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000617608   is a continuation in part of
US1999000325976  1999-06-04
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000616025 2003-07-09  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000616025   is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000462379 2003-06-16  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000462379   is a continuation in part of
US1999000325976  1999-06-04
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000461720 2003-06-13  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000460970 2003-06-13  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000460970   is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2003000460053 2003-06-12  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2001000862839 2001-05-22  is a division of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2000000619086 2000-07-19  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2000000619086   is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US1999000456347 1999-12-08  is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US1999000456347   is a continuation in part of
US1999000325976  1999-06-04   (pending) [presumed granted]
     US7370713 issued 2008-05-13   Personal mobility vehicles and methods
US2002000259414   is a continuation of
US1999000319948  
     US5975225 issued 1999-11-02   Transportation vehicles with stability enhancement using CG modification
US1999000325976 1999-06-04  is a continuation in part of
>US1995000479901<  1995-06-07   (granted)
     US5975225 issued 1999-11-02   Transportation vehicles with stability enhancement using CG modification
US1999000325976   is a continuation in part of
>US1995000479901<  1995-06-07
     US5975225 issued 1999-11-02 1999-11-02  Transportation vehicles with stability enhancement using CG modification
US1999000325976   is a continuation in part of
>US1995000479901<  1995-06-07
     US5975225 issued 1999-11-02   Transportation vehicles with stability enhancement using CG modification
US1995000384705   is a continuation in part of
>US1995000479901<  1995-06-07
     US5975225 issued 1999-11-02   Transportation vehicles with stability enhancement using CG modification
US1999000325976   is a continuation in part of
US1995000384705  1995-02-03
     US5971091 issued 1999-10-26   Transportation vehicles and methods
>US1995000479901< 1995-06-07  is a continuation in part of
US1995000384705  1995-02-03   (granted)
     US5971091 issued 1999-10-26   Transportation vehicles and methods
>US1995000479901<   is a continuation in part of
US1995000384705  1995-02-03
     US5971091 issued 1999-10-26 1999-10-26  Transportation vehicles and methods
>US1995000479901<   is a continuation in part of
US1995000384705  1995-02-03
     US5971091 issued 1999-10-26   Transportation vehicles and methods
>US1995000479901<   is a continuation in part of
US1994000250693  1994-05-27
     US5701965 issued 1997-12-30   Human transporter
US1995000384705 1995-02-03  is a continuation in part of
US1994000250693  1994-05-27   (granted)
     US5701965 issued 1997-12-30   Human transporter
US1995000384705   is a continuation in part of
US1994000250693  1994-05-27
     US5701965 issued 1997-12-30 1997-12-24  Human transporter
US1995000384705   is a continuation in part of
US1994000250693  1994-05-27
     US5701965 issued 1997-12-30 1997-12-30  Human transporter
US1995000384705   is a continuation in part of
US1994000250693  1994-05-27
     US5701965 issued 1997-12-30   Human transporter
US1995000384705   is a continuation in part of
US1994000250639  1994-05-27
     US5701965 issued 1997-12-30   Human transporter
US1994000250693 1994-05-27  is a continuation in part of
US1993000021789  1993-02-24   (abandoned)
US1994000250693   is a continuation in part of
US1993000021789  1993-02-24   (abandoned)
US1994000250639   is a continuation in part of
US1993000021789  1993-02-24   (abandoned)


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