Patent ID: 7568709
Filing Date: 2009-08-04
Classification: A45C,B62B,Y10T

Abstract:
1. A passively stabilized wheeled object comprising an object body; at least one primary wheel assembly comprising two wheels, spaced apart from each other and mounted to the object body to rotate about a common axis, the primary wheel assembly being defined by a first set of coordinates x, y and z, wherein x is the direction of motion, y is vertical and z is the direction along the common axis of the primary wheel assembly and a second set of coordinates x at least one secondary wheel assembly comprising at least two secondary wheels, disposed on opposite sides of, and spaced further apart than the wheels of the primary wheels assembly, each of the secondary wheels is further defined by a cant axis and an angle ψ that is not equal to zero and represents rotation about the cant axis in a direction away from the x axis such that the secondary wheel assembly is not aligned with the direction of motion; wherein the secondary wheel assembly restores the angle θ to zero when the object tips.