Patent ID: 6827163
Filing Date: 2004-12-07
Classification: A61G,B60K,B60L,B62D,B62K,Y02T

Abstract:
A device for carrying a user, the device comprising:a. a platform which supports a payload including the user, b. a ground-contacting module, mounted to the platform, including at least one ground-contacting member, characterized by a ground contact region, and defining a fore-aft plane; c. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload constituting a system being unstable with respect to tipping in at least the fore-aft plane when the motorized drive is not powered, the system characterized by a pitch angle offset from a specified pitch angle and a pitch rate offset from a specified pitch rate; and d. a control loop in which the motorized drive arrangement is included, for dynamically maintaining stability of the system in the fore-aft plane by operation of the motorized drive arrangement so that the net torque experienced by the system about the region of contact with the surface causes a specified acceleration of the system, the net torque including a contribution related to the pitch angle offset multiplied by a first gain wherein the first gain is a function of at least one of an orientation and a displacement of the device.