Patent ID: 9477228
Filing Date: 2016-10-25
CPC Classification: B60N,B62D,B62J,B62K,G05D,Y02T,Y10S,Y10T

Claim Text:
1. A vehicle for transporting a payload over a surface, comprising: a platform; a support, disposed on the platform, configured to support the payload; an enclosure, coupled to the platform and the support, configured to at least partially enclose the payload when the payload is disposed on the support; at least one surface-contacting element, coupled to the platform, configured to contact the surface and move the vehicle over the surface in response to received control signals; and a drive controller, coupled to the at least one surface-contacting element, configured to dynamically control balancing of the vehicle by providing the control signals as a function of a position of the center of gravity of a combination comprising the vehicle and the payload disposed on the support, wherein the support and the enclosure are further configured to move with respect to the platform.