Patent ID: 6396180
Filing Date: 2002-05-28
Classification: B64G

Abstract:
A control device for controlling an object, comprising:a frame; a shaft mounted to the frame; a first wheel that rotates around the shaft in a first direction, the first wheel having at least two openings on an outer peripheral surface thereof; a second wheel that rotates around the shaft in a second direction opposite to the first direction, the second wheel having at least two openings on an outer peripheral surface thereof; a motor that provides force to cause the first and second wheels to rotate; first and second magnets respectively provided in the at least two openings of the first wheel; third and fourth magnets respectively provided in the at least two openings of the second wheel; and first and second pulsing stations that output pulses having magnetic fields associated therewith, wherein the first pulsing station is operative to output a first pulse at a first instant in time that creates a magnetic field at the first pulsing station of a same polarity as a polarity of a nearest surface of the first and third magnets, wherein the first instant in time is a time when the first magnet on the first wheel and the third magnet on the second wheel are passing in front of the first pulsing station, and wherein a repelling force is provided to thereby urge the first and third magnets inwards within the respective openings of the first and second wheels, to thereby create a weight distribution change in the first and second wheels that is used to provide a force vector that is used to control the object.