Patent ID: 9529365
Filing Date: 2016-12-27
CPC Classification: A63C,B60L,B62D,B62J,B62K,G05D,G08B,Y02T

Claim Text:
1. A method for controlling a transporter, the transporter having at least one ground-contacting element, a handlebar supported by the at least one ground-contacting element, and a controller operatively communicating with the at least one ground-contacting element, the method comprising: receiving, by the controller, a desired yaw and a desired yaw rate, the desired yaw and the desired yaw rate being based on a body orientation of a load on the transporter; computing, by the controller, a desired direction of motion of the transporter based on the received desired yaw and the received desired yaw rate; receiving, by the controller, a pitch of the transporter; computing, by the controller, a pitch command signal based on the pitch; computing, by the controller, a command signal based on the desired direction and the pitch command signal; and providing, by the controller, the command signal to maintain balance of the transporter and motion in the desired direction.