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 Title: |
US7779939:
Guided control of a 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
Amsbury, Burl; Boulder, CO, United States of America
Field, J. Douglas; Bedford, NH, United States of America
Langenfeld, Christopher C.; Nashua, NH, United States of America
Morrell, John B.; Bedford, NH, United States of America
Pompa, Jonathan B.; La Jolla, CA, United States of America
Stevens, Jon M.; Manchester, NH, United States of America
Lund, Jeremy B.; Amherst, 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)
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| Published / Filed: |
2010-08-24
/ 2007-10-29
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| Application Number: |
US2007000926606
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| IPC Code: |
Advanced:
A61G 5/04;
A61G 5/06;
A61G 5/14;
B62D 57/00;
B62D 61/12;
B62K 17/00;
A61G 5/10;
A61G 5/12;
B60K 7/00;
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| ECLA Code: |
B62K17/00; B62D37/00; B62D51/02; B62D57/00; B62D61/00; B62K3/00D; K61G5/08A6; K61G5/08R; L60K7/00; Y02T10/70H6;
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| U.S. Class: |
180/007.1;
180/282;
180/041;
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| Field of Search: |
180/7.1,8.1,8.2,8.3,65.1,65.8,218,41,282
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| Priority Number: |
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| 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.
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| Attorney, Agent or Firm: |
McCormick, Paulding & Huber LLP ;
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| Primary / Asst. Examiners: |
Hurley, Kevin;
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Parent Case: |
CROSS REFERENCE TO RELATED APPLICATIONS
This application is a divisional of U.S. application Ser. No. 10/462,379 filed on Jun. 16, 2003, herein incorporated by reference, which was 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 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.
Co-pending U.S. application Ser. No. 10/462,379, filed Jun. 16, 2005 is also a continuation-in-part of U.S. Ser. No. 10/308,888, filed Dec. 3, 2002, now abandoned, and claims priority through the latter application from U.S. Ser. No. 60/336,601, filed Dec. 5, 2001, and U.S. Ser. No. 60/347,800, filed Jan. 10, 2002.
Finally, this application claims priority from U.S. Provisional Application No. 60/388,937, filed Jun. 14, 2002.
All of the aforementioned applications are also incorporated herein by reference.
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| Family: |
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First Claim:
Show all 4 claims |
1. A transporter for transporting a load over a surface, the transporter comprising: a. a support platform for supporting the load, the support platform characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude; b. at least two ground-contacting members coupled to the support platform in such a manner as to provide locomotion of the support platform with respect to an underlying surface; c. a motorized drive arrangement for driving the at least two ground-contacting members; d. a user input for receiving a command from a user not carried by the transporter to govern operation of the motorized drive arrangement; e. at least one sensor sensing the attitude of the support platform; and f. a controller for commanding the motorized drive arrangement based at least on the attitude of the support platform, the controller generating a control signal based on the user input and commanding the motorized drive on the basis of a sum of coadded terms including at least a first term proportional to the control signal and a second term defining a counteracting contribution proportional to a common component of rotational velocity of the ground contacting members.
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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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