A self-balancing transport vehicle, comprising: a support platform housing comprising one or more inertial sensors operable to provide data indicating the pitch of the support platform, a first foot placement section and a second foot placement section; a first wheel associated with the first foot placement section and a second wheel associated with the second foot placement section, the first and second wheels (140, 150) being spaced apart and substantially parallel to one another; a first drive motor configured to drive the first wheel and a second drive motor configured to drive the second wheel; at least one load sensor operable to provide first load data for the first foot placement section and at least one load sensor operable to provide second load data for the second foot placement section; and control circuitry connected to the first and second drive motors, and operable to transmit balancing torque signals to the first and second wheels (140, 150) for self-balancing the support platform housing in response to the pitch data, and further operable to transmit steering torque signals to the first and second wheels (140, 150) in response to the first and second load data; characterized in that: the first load data comprises a first front load data and a first rear load data of the first foot placement section and the second load data comprises a second front load data and a second rear load data of the second foot placement section; and a net steering torque signal of the control circuitry comprises a product of a first factor and a second factor, wherein the first factor comprises a steering force input provided by the first load data and the second load data, and wherein the second factor comprises a constant coefficient that varies depending on the speed of the vehicle. a support platform housing comprising one or more inertial sensors operable to provide data indicating the pitch of the support platform, a first foot placement section and a second foot placement section; a first wheel associated with the first foot placement section and a second wheel associated with the second foot placement section, the first and second wheels (140, 150) being spaced apart and substantially parallel to one another; a first drive motor configured to drive the first wheel and a second drive motor configured to drive the second wheel; at least one load sensor operable to provide first load data for the first foot placement section and at least one load sensor operable to provide second load data for the second foot placement section; and control circuitry connected to the first and second drive motors, and operable to transmit balancing torque signals to the first and second wheels (140, 150) for self-balancing the support platform housing in response to the pitch data, and further operable to transmit steering torque signals to the first and second wheels (140, 150) in response to the first and second load data; characterized in that: the first load data comprises a first front load data and a first rear load data of the first foot placement section and the second load data comprises a second front load data and a second rear load data of the second foot placement section; and a net steering torque signal of the control circuitry comprises a product of a first factor and a second factor, wherein the first factor comprises a steering force input provided by the first load data and the second load data, and wherein the second factor comprises a constant coefficient that varies depending on the speed of the vehicle. the first load data comprises a first front load data and a first rear load data of the first foot placement section and the second load data comprises a second front load data and a second rear load data of the second foot placement section; and a net steering torque signal of the control circuitry comprises a product of a first factor and a second factor, wherein the first factor comprises a steering force input provided by the first load data and the second load data, and wherein the second factor comprises a constant coefficient that varies depending on the speed of the vehicle.