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Title: |
US6915878:
Self-balancing ladder and camera dolly
[ 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
Heinzmann, John David; Manchester, NH, United States of America

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Assignee: |
DEKA Products Limited Partnership, Manchester, NH, United States of America
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
News, Profiles, Stocks and More about this company

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Published / Filed: |
2005-07-12
/ 2003-07-09

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Application Number: |
US2003000616025

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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:
E04G 1/18;

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ECLA Code: |
B62D37/00; A61G5/04; A61G5/06; A61G5/14; B62D61/00; B62K3/00D; B66F11/04; K61G5/06B2; K61G5/10S10; K61G5/12E; K61G5/12H; L60K7/00;

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U.S. Class: |
182/141;
180/006.5;
180/007.1;

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Field of Search: |
182/141
180/7.1,6.5,8.2,21,65.8,218,907
364/176,463

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Priority Number: |

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Abstract: |
A device and methods for supporting a payload, such as a user, at a variable height above the ground and for repositioning the payload in a dynamically stabilized mode of operation. The transporter device has two laterally disposed primary wheels and a payload support that may be used to raise or lower the payload. A torque is applied to the laterally disposed wheels so as to propel the transporter on the basis of a control signal that may include repositioning of the device.

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Attorney, Agent or Firm: |
Bromberg & Sunstein LLP ;

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Primary / Asst. Examiners: |
Lev, Bruce A.;

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INPADOC Legal Status: |
Show legal status actions
Family Legal Status Report

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Parent Case: |
CROSS REFERENCE TO RELATED APPLICATIONS
The present application is a continuation-in-part application of copending U.S. application Ser. No. 09/325,976, filed Jun. 4, 1999, which is a continuation-in-part (CIP) of U.S. application Ser. No. 08/479,901, filed Jun. 7, 1995, and issued Nov. 2, 1999 as U.S. Pat. No. 5,975,225, which was a CIP of U.S. application Ser. No. 08/384,705, filed Feb. 3, 1995, and issued Oct. 26, 1999 as U.S. Pat. No. 5,971,091, which was a CIP of U.S. application Ser. No. 08/250,693, filed May 27, 1994, and issued Dec. 24, 1997 as U.S. Pat. No. 5,701,965, from which the present application claims priority, all of which applications and patents are incorporated herein by reference.

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Family: |
Show 348 known family members

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First Claim:
Show all 8 claims |
1. A device for carrying a payload, which may include a user, over a surface, the device comprising: a. a payload support which supports the payload at a height above the surface, b. a ground-contacting module, mounted to the platform, including a plurality of laterally disposed ground-contacting members 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; the motorized drive arrangement causing, when powered, automatically balanced operation of the system in an operating position that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered; and d. an elevation mechanism for permitting variation of the height of the payload above the surface.

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Background / Summary: |
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Drawing Descriptions: |
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Description: |
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Forward References: |
Show 10 U.S. patent(s) that reference this one

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U.S. References: |
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All U.S. references
| Forward references (10)
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Backward references (115)
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Citation Link

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(4 pages)
Cited by 45 patents
Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan 1987, pp. 21-28 (Absract Only).
Schoonwinkel, A., Design and Test of a Computer-Stabilized Unicycle, Dissertation Abstracts International, vol. 49/30-B, Stanford University 1988, pp. 890-1294 (Abstract Only).
Vos et al., Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle—Theory and Experiment, American Institute of Aeronautics and Astronautics, A90-26772 10-39, Washington, D.C. 1990, pp. 487-494 (Abstract only).
Tecknico's Home Page, Those Amazing Flying Machines, http://www.swiftsite.com/technico.
Stew's Hovercraft Page, http://www.stewcam.com/hovercraft.html.
Kanoh, Adaptive Control of Inverted Pendulum, Computrol, vol. 2, (1983), pp. 69-75.
Yamafuji, A Proposal for Modular-Structured Mobile Robots for Work that Principally Involve a Vehicle with Two Parallel Wheels, Automation Technology, vol. 20, pp. 113-118 (1988).
Yamafuji & Kawamura, Study of Postural and Driving Control of Coaxial Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 54, No. 501, (May, 1988), pp. 1114-1121.
Yamafuji et al., Synchronous Steering Control of a Parallel Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 55, No. 513, (May, 1989), pp. 1229-1234.
Momoi & Yamafuji, Motion Control of the Parallel Bicycle-Type Mobile Robot Composed of a Triple Inverted Pendulum, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 57, No. 541, (Sep., 1991), pp. 154-159.
Aucoin, Olin Students Find Balance in Segway Project, Boston Globe, Apr. 5, 2003, p. D1.

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