Non-linear control of a balancing vehicle (US6827163)

2003-06-12	US2003000460053
1999-06-04	US1999000325976
1995-06-07	US1995000479901
1995-02-03	US1995000384705
1994-05-27	US1994000250693
2002-06-14	US2002000388723P

Abstract:

A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Methods of controlling the transporter are described that allow the dynamic behavior of the transporter to more closely match preferences of a rider. These methods include providing preferential responsiveness to change in pitch angles and pitch rates.

Attorney, Agent or Firm:

Bromberg & Sunstein LLP ;

Primary / Asst. Examiners:

Morris, Lesley D.; Luby, Matthew

INPADOC Legal Status:

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Related Applications:

Go to Result Set: 4 patent(s) that list this one as related

Application Number	Filed	Pub. Date	Title
US1999000325976	1999-06-04
US1995000479901	1995-06-07	1999-11-02	Transportation vehicles with stability enhancement using CG modification
US1995000384705	1995-02-03	1999-10-26	Transportation vehicles and methods
US1994000250693	1994-05-27	1997-12-30	Human transporter


	Parent Case:			The present application is a continuation-in-part application of 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. This application also claims priority from provisional application, Ser. No. 60/388,723, filed Jun. 14, 2002. All of the above applications are incorporated herein by reference.
	Family:			Show 321 known family members
	First Claim: Show all 5 claims			What is claimed is: 1. A device for carrying a user, the device comprising: a. a platform which supports a payload including the user, b. a ground-contacting module, mounted to the platform, including at least one ground-contacting member, characterized by a ground contact region, and defining a fore-aft plane; c. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload constituting a system being unstable with respect to tipping in at least the fore-aft plane when the motorized drive is not powered, the system characterized by a pitch angle offset from a specified pitch angle and a pitch rate offset from a specified pitch rate; and d. a control loop in which the motorized drive arrangement is included, for dynamically maintaining stability of the system in the fore-aft plane by operation of the motorized drive arrangement so that the net torque experienced by the system about the region of contact with the surface causes a specified acceleration of the system, the net torque including a contribution related to the pitch angle offset multiplied by a first gain wherein the first gain is a function of at least one of an orientation and a displacement of the device.
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	Description:			Show description
	Forward References:			Show 9 U.S. patent(s) that reference this one

U.S. References:

Go to Result Set: All U.S. references | Forward references (9) | Backward references (110) | Citation Link

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