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 Title: |
US20100140009A1:
VEHICLE CONTROL BY PITCH MODULATION
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Kamen, Dean; Bedford, NH, United States of America
Ambrogi, Robert R.; Manchester, NH, United States of America
Flynn, Catharine N.; Manchester, NH, United States of America
Kerwin, John M.; 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)
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| Published / Filed: |
2010-06-10
/ 2010-02-18
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| Application Number: |
US2010000708058
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| IPC Code: |
Advanced:
B60K 28/14;
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| ECLA Code: |
B62D37/00; B60L15/20D; B62K3/00D; B62K5/01; B62K17/00; L60L200/34; Y02T10/70; Y02T10/72D6;
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| U.S. Class: |
180/282;
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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: |
MCCORMICK, PAULDING & HUBER LLP ; 185 ASYLUM ST., CITY PLACE II
, HARTFORD
, CT
06103 United States of America
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| INPADOC Legal Status: |
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| Parent Case: |
PRIORITY
The present application is a divisional of U.S. patent application Ser. No. 11/249,170, filed Oct. 11, 2005, which claims the benefit of U.S. Provisional Patent Application Ser. No. 60/617,244, filed Oct. 8, 2004. U.S. patent application Ser. No. 11/249,170 is also a continuation-in-part of U.S. patent application Ser. No. 10/990,715, filed Nov. 17, 2004, now abandoned, which is a continuation of U.S. patent application Ser. No. 10/460,053, filed Jun. 12, 2003, now U.S. Pat. No. 6,827,163, which claims the benefit of U.S. Provisional Patent Application Ser. No. 60/388,723, filed Jun. 14, 2002. U.S. patent application Ser. No. 11/249,170 is also a continuation-in-part of U.S. patent application Ser. No. 10/459,173, filed Jun. 11, 2003, now U.S. Pat. No. 7,017,686, which claims the benefit of U.S. Provisional Patent Application Ser. No. 60/387,641, filed Jun. 11, 2002. All of the above referenced patents and applications are hereby incorporated by reference in their entirety.
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| Family: |
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First Claim:
Show all 6 claims |
1. A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface, where the vehicle having a plurality of driven wheels including a forward wheel and an aft wheel, and with the forward wheel characterized by a force normal to the instantaneous direction of motion of the vehicle, the method comprising: applying a torque to the aft wheel based on the force on the forward wheel normal to the direction of motion.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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