Guided control of a transporter (US7546889)

2003-06-16	US2003000462379
1999-06-04	US1999000325976
1995-06-07	US1995000479901
1995-02-03	US1995000384705
1994-05-27	US1994000250693
1993-02-24	US1993000021789
2002-12-03	US2002000308888
2002-06-14	US2002000388937P
2002-01-10	US2002000347800P
2001-12-05	US2001000336601P

Abstract:

A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal. The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.

Attorney, Agent or Firm:

McCormick, Paulding & Huber LLP ;

Primary / Asst. Examiners:

Hurley, Kevin;

INPADOC Legal Status:

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Related Applications:

Go to Result Set: 1 patent(s) that list this one as related

Application Number	Filed	Pub. Date	Title
US1999000325976	1999-06-04	2008-05-13	Personal mobility vehicles and methods
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
US1993000021789	1993-02-24
US2003000462379
US2002000308888	2002-12-03


	Family:			Show 306 known family members
	First Claim: Show all 17 claims			1. A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising: a. receiving an input via the user input; b. generating a control signal corresponding to the input received; and c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal; and d. wherein the step of applying the torque includes applying a torque proportional to a sum of coadded terms including at least a first term proportional to the control signal and a second term proportional to additive inverse of the wheel velocity common to the two wheels.
	Background / Summary:			Show background / summary
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	Forward References:			Show 2 U.S. patent(s) that reference this one

U.S. References:

Go to Result Set: All U.S. references | Forward references (2) | Backward references (114) | Citation Link

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* some details unavailable

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