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Title: US20050126832A1: Non-linear control of a balancing vehicle
[ Derwent Title ]

Country: US United States of America

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17 pages

 
Inventor: Amsbury, Burl; Boulder, CO, United States of America
Field, J. Douglas; Bedford, NH, United States of America
Kerwin, John M.; Manchester, NH, United States of America
Morrell, John B.; Bedford, NH, United States of America
Pompa, Johnathan B.; La Jolla, CA, United States of America

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: 2005-06-16 / 2004-11-17

Application Number: US2004000990715
IPC Code: Advanced: B60L 11/18; B60L 15/20; B62K 3/00; B62K 17/00; B62M 7/00; B62M 23/02;
IPC-7: B62D 57/00; B62D 57/024; B62D 57/028; B62D 57/032; B62D 57/036;

ECLA Code: B62K17/00; B60L11/18M; B60L15/20E; B62K3/00D; L60L200/16; Y02T10/70B; Y02T10/70H6; Y02T10/72D6;

U.S. Class: 180/007.1;

Priority Number:
2004-11-17  US2004000990715
2003-06-12  US2003000460053
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 ; 125 SUMMER STREET , BOSTON , MA 02110-1618 United States of America

INPADOC Legal Status: None          Buy Now: Family Legal Status Report

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Claim     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 in such a manner that a drive command supplied to the motorized drive arrangement includes a contribution related to the pitch angle offset multiplied by a first gain wherein the first gain is a function of the instantaneous pitch of the device.

Background / Summary: Show background / summary

Drawing Descriptions: Show drawing descriptions

Description: Show description

Forward References: Show 1 U.S. patent(s) that reference this one

       
U.S. References: Go to Result Set: All U.S. references   |  Forward references (1)   |   Backward references (0)   |   Citation Link

       
Continuity Data:
Application Number Filed Notes
US2004000990715 2004-11-17  is a related to the prior publication
     US20060108156A1 issued 2006-05-25  Vehicle control by pitch modulation
US2004000990715 2004-11-17  is a related to the prior publication
     US20060108165A1 issued 2006-05-25  Vehicle control by pitch modulation
US2004000990715 2004-11-17  is a related to the prior publication
     US20090099762A1 issued 2009-04-16  Vehicle Control by Pitch Modulation
US2004000990715 2004-11-17  is a related to the prior publication
     US20100140009A1 issued 2010-06-10  VEHICLE CONTROL BY PITCH MODULATION
12708058   is a division of
US2005000249170  2005-10-11
     US7690452 issued 2010-04-06   Vehicle control by pitch modulation
12337249   is a division of
US2005000249136  2005-10-11   (pending) [presumed granted]
     US7900725 issued 2011-03-08   Vehicle control by pitch modulation
US2005000249170 2005-10-11  is a continuation in part of
>US2004000990715<  2004-11-17   (abandoned)
     US20050126832A1 issued 2005-06-16   Non-linear control of a balancing vehicle
US2005000249136 2005-10-11  is a continuation in part of
>US2004000990715<  2004-11-17   (abandoned)
     US20050126832A1 issued 2005-06-16   Non-linear control of a balancing vehicle
11249170   is a continuation in part of
>US2004000990715<  2004-11-17   (abandoned)
     US20050126832A1 issued 2005-06-16   Non-linear control of a balancing vehicle
11249136   is a continuation in part of
>US2004000990715<  2004-11-17   (abandoned)
     US20050126832A1 issued 2005-06-16   Non-linear control of a balancing vehicle
US2004000990715 2004-11-17  is a non-provisional of provisional
US2004000617244P  2004-10-08
US2005000990715   is a continuation of
US2003000460053  2003-06-12
     US6827163 issued 2004-12-07 2004-12-07  Non-linear control of a balancing vehicle
US2005000990715   is a continuation of
US2003000460053  2003-06-12
     US6827163 issued 2004-12-07   Non-linear control of a balancing vehicle
>US2004000990715< 2004-11-17  is a continuation of
US2003000460053  2003-06-12   (granted)
     US6827163 issued 2004-12-07   Non-linear control of a balancing vehicle
US2005000249136 2005-10-11  is a continuation in part of
US2003000459173  2003-06-11   (granted)
     US7017686 issued 2006-03-28   Hybrid human/electric powered vehicle
>US2004000990715< 2004-11-17  is a continuation in part of
US2003000459173  2003-06-11   (granted)
     US7017686 issued 2006-03-28   Hybrid human/electric powered vehicle
US2003000460053   is a continuation in part of
US2003000459173  2003-06-11
     US7017686 issued 2006-03-28   Hybrid human/electric powered vehicle
11249170   is a continuation in part of
US2003000459173  2003-06-11
     US7017686 issued 2006-03-28 2006-03-28  Hybrid human/electric powered vehicle
11249170   is a continuation in part of
US2003000459173  2003-06-11
     US7017686 issued 2006-03-28   Hybrid human/electric powered vehicle
11249136   is a continuation in part of
US2003000459173  2003-06-11
     US7017686 issued 2006-03-28   Hybrid human/electric powered vehicle
US2004000990715 2004-11-17  is a non-provisional of provisional
US2002000388723P  2002-06-14
US2004000990715 2004-11-17  is a non-provisional of provisional
US2002000387641P  2002-06-11
US2004000990715 2004-11-17  is a non-provisional of provisional
US1002000388723P  1002-06-14
US2005000990715   is a continuation of
11249136     (pending)


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