Patent ID: 7275607

Claim:
A controller for a transporter having at least one primary ground-contacting element, the transporter characterized by a roll angle, the controller comprising: a. an input adapted to receive specification by a user of a desired yaw, yaw rate, and direction of motion of the transporter, at least the desired yaw and yaw rate being based on a detected body orientation of the user; b. a pitch state estimator for sensing a pitch of the transporter and outputting a pitch state signal; and c. a processor of a kind that generates a command signal governing motion of the at least one ground-contacting element based at least on the user-specified yaw and yaw rate received by the input, in conjunction with the pitch state signal based on the pitch of the transporter, in such a manner as to maintain balance of the transporter in the course of achieving the specified yaw and direction of motion of the transporter.