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APPARATUS AND METHODS FOR CONTROL OF A VEHICLE

  • US 20110209929A1
  • Filed: 02/28/2011
  • Published: 09/01/2011
  • Est. Priority Date: 02/26/2010
  • Status: Active Grant
First Claim
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1. A method for transitioning a vehicle from a statically-stable state to a dynamically-balanced state, the vehicle comprising a support, at least one wheel, a coupling structure having a support portion coupled to the support and a ground portion coupled to the at least one wheel that allows the support portion to move or slide fore and aft with respect to the platform portion, a drive coupled to the at least one wheel to dynamically balance the vehicle and provide power to the at least one wheel to propel the vehicle, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, and landing gear coupled to the vehicle, wherein the combination of the landing gear and the at least one wheel maintain the vehicle in the statically-stable state when the vehicle is operating in the statically-stable state, the method comprising:

  • controlling the drive to command the at least one wheel to hold a zero speed condition and to hold the vehicle in a stationary position with respect to an underlying surface;

    controlling the actuator to move or slide the position of the support portion relative to the platform portion to alter the vehicle center of gravity position toward a location where the vehicle is capable of balancing with the at least one wheel; and

    initiating dynamic balancing of the vehicle with the at least one wheel when the location of the vehicle center of gravity satisfies a predetermined condition.

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