Patent ID: 6543564
Filing Date: 2003-04-08
Classification: A61G,B60K,B62D,B62K

Abstract:
A vehicle, for transporting a human subject over a surface that may be irregular, the vehicle comprising:a. a support platform for supporting the subject, the support platform defining fore-aft and lateral planes; b. a ground-contacting module pivotably attached to the support platform for suspending the support platform over the surface, the ground-contacting module stable to tipping both fore and aft while stationary, the support platform unstable to tipping in the fore-aft plane while the ground-contacting module is stationary; c. a motorized drive arrangement, mounted to at least one of the ground contacting module and the support platform, for causing locomotion of the ground contacting module over the surface; and d. a control loop, in which the motorized drive arrangement is included, for dynamically maintaining stability of the support platform to tipping in the fore-aft plane by operation of the motorized drive arrangement in such a manner as to cause a specified acceleration of the ground contacting module.