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 Title: |
US20060108156A1:
Vehicle control by pitch modulation
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Heinzmann, John D.; Manchester, NH, United States of America
Robinson, David W.; Manchester, NH, United States of America
Stevens, Jon M.; Manchester, NH, United States of America
Field, J. Douglas; Bedford, NH, United States of America
Lund, Jeremy B.; Amherst, NH, United States of America
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| Assignee: |
None
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| Published / Filed: |
2006-05-25
/ 2005-10-11
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| Application Number: |
US2005000249136
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| IPC Code: |
Advanced:
B62D 51/06;
Core:
B62D 51/00;
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| ECLA Code: |
B62D37/00; B60L11/00B4; B60L15/20D; B60L15/20E; B62K3/00D; B62K5/01; B62K17/00; L60L200/24; L60L200/34; L60L220/44; L60L240/423; L60L240/463; L60L260/34; Y02T10/64D; Y02T10/70; Y02T10/70B; Y02T10/70H4; Y02T10/72D6;
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| U.S. Class: |
180/008.2;
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| Priority Number: |
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| Abstract: |
A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.
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| Attorney, Agent or Firm: |
BROMBERG & SUNSTEIN LLP ; 125 SUMMER STREET
, BOSTON
, MA
02110-1618 United States of America
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| INPADOC Legal Status: |
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| Parent Case: |
PRIORITY
The present application claims priority from the U.S. Provisional Patent Application No. 60/617,244, which is hereby incorporated herein by reference in its entirety.
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| Family: |
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First Claim:
Show all 10 claims |
1. A vehicle comprising: a plurality of wheels, including at least one forward wheel and at least one aft wheel; at least one motor actuator that drives each aft wheel; a controller governs the at least one motor actuator in such a manner as to dynamically stabilize the vehicle when the forward wheel is not in contact with an underlying surface, the controller governing the at least one motor actuator according to a control law independent of whether the forward wheel is in contact with the underlying 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 7 U.S. patent(s) that reference this one
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