Dynamic ride vehicle

• US 5,623,878 A
• Filed: 11/16/1995
• Issued: 04/29/1997
• Est. Priority Date: 08/19/1993
• Status: Expired due to Term

• Current Assignee: The Walt Disney Company
• Original Assignee: The Walt Disney Company
• Inventors: Redmann, William G., Watson, Scott F., Spencer, David W. II, Baxter, Anthony W., Snoddy, Jon H., Fink, David G.
• Primary Examiner(s): Morano, S. Joseph
• Application Number:
  US08/559,569
• Time in Patent Office: 530 Days
• Field of Search: 104/53, 104/83, 104/85, 104/154, 104/289, 104/296, 434/37, 434/55, 434/58, 472/43, 472/57, 472/59, 472/64, 472/135, 180/165
• US Class Current: 104/85
• CPC Class Codes: A63G 1/30 with seats moving up-and-down, e.g. figure-seats
• CPC Class Codes: A63G 21/04 with fixed rails
• CPC Class Codes: A63G 21/08 with additional rotation of cars
• CPC Class Codes: A63G 21/12 with special cars, e.g. horse-shaped
• CPC Class Codes: A63G 31/16 creating illusions of travel
• CPC Class Codes: A63G 7/00 Up-and-down hill tracks; Switchbacks
• CPC Class Codes: G09B 9/02 for teaching control of vehicles or other craft

Abstract

A dynamic ride vehicle for executing a sequence of distinct motion patterns and for providing unique ride experiences in an amusement park attraction or other environment includes a movable chassis and a body having a passenger seating area. A motion apparatus, including computer controlled actuators, imparts motion to the body along a plurality of axes independent of any motion of the chassis as it moves along a path. As the vehicle travels along the path, articulation of the body and appropriate steering of the vehicle enables the vehicle to execute, in cooperation with the motion apparatus, a sequence of distinct motion patterns. Execution of the motion patterns enhances the passengers'"'"' sensation of vehicle movement that is actually taking place, as well as the sensation of a realistic moving ride vehicle experience that is actually not happening.

Claims

1. A dynamic ride vehicle that carries a passenger and that moves along a path through an environment external to the vehicle, comprising:

(a) a chassis that selectively moves the vehicle along the path with respect to the environment;

(b) a body that carries the passenger and that permits viewing by the passenger of the environment;

(c) a motion apparatus connecting the body to the chassis and permitting at least one degree of controlled motion of the body independent of motion of the chassis; and

(d) a programmable controller that controls the motion of the body and the motion of the chassis and the relative motion between the body and the chassis.

2. A dynamic ride vehicle that moves along a path through an environment external to the vehicle, comprising:

(a) a chassis that moves the vehicle along the path with respect to the environment;

(b) a body that carries a passenger;

(c) a motion apparatus connecting the body to the chassis permitting at least one degree of controlled articulation between the chassis and the body; and

(d) a controller that

controls motion of the chassis along the path relative to the environment,

controls motion of the body relative to the chassis; and

coordinates motion of the chassis along the path relative to the environment with motion of the body relative to the chassis to create a particular motion experience for the passenger in the vehicle.

3. The dynamic ride vehicle of claim 2, further comprising a driver for moving the chassis along the path.

4. The dynamic ride vehicle of claim 3, further comprising wheels on the chassis, wherein the driver is adapted to drive the wheels and move the chassis.

5. The dynamic ride vehicle of claim 4, wherein one of the wheels is steerable for controlling a direction of motion of the chassis.

6. The dynamic ride vehicle of claim 4, wherein the wheels comprise a pair of steerable front wheels and a pair of rear wheels on the chassis.

7. The dynamic ride vehicle of claim 4, wherein the wheels comprise a pair of steerable front wheels and a pair of steerable rear wheels on the chassis.

8. The dynamic ride vehicle of claim 7, wherein the pair of steerable front wheels and the pair of steerable rear wheels are independently steerable in different directions.

9. The dynamic ride vehicle of claim 2, wherein the motion of the chassis is controlled by a wire-guided system, a signal-based system, or an autonomous system.

10. The dynamic ride vehicle of claim 2, wherein the motion apparatus permits a plurality of different degrees of controlled motion of the body relative to the chassis.

11. The dynamic ride vehicle of claim 2, wherein the motion apparatus includes an actuator that articulates the body with respect to the chassis in a compound movement.

12. The dynamic ride vehicle of claim 2, further comprising a sound producing audio device, wherein the controller controls the audio device to produce sounds.

13. The dynamic ride vehicle of claim 2, wherein the controller receives and transmits control signals in real time to coordinate motion of the body with respect to the chassis.

14. The dynamic ride vehicle of claim 2, wherein operation of the controller is based on a function of time.

15. A dynamic ride vehicle that carries a passenger and that moves along a path through an environment external to the vehicle, comprising:

(a) a chassis that selectively moves the vehicle along the path with respect to the environment;

(b) a body that carries the passenger and that permits viewing by the passenger of the environment;

(c) a motion apparatus connecting the body to the chassis and permitting at least one degree of controlled motion of the body independent of motion of the chassis;

(d) a steering mechanism for controlling the direction of motion of the chassis along the path; and

(e) a programmable controller that controls the motion apparatus and the steering mechanism.

16. The dynamic ride vehicle of claim 15, wherein the steering mechanism is controlled by a passenger in the vehicle.

17. A dynamic ride vehicle that carries a passenger and that moves along a path through an environment external to the vehicle, comprising:

(a) a chassis that selectively moves the vehicle along the path with respect to the environment;

(b) a body that carries the passenger and that permits viewing by the passenger of the environment;

(c) a motion apparatus connecting the body to the chassis and permitting at least one degree of controlled motion of the body independent of motion of the chassis;

(d) a brake for decelerating the chassis; and

(e) a programmable controller that controls the motion apparatus and the brake.

18. A dynamic ride vehicle that carries a passenger and that moves along a path through an environment external to the vehicle, comprising:

(a) a chassis that selectively moves the vehicle along the path with respect to the environment;

(b) a body that carries the passenger and that permits viewing by the passenger of the environment;

(c) a motion apparatus connecting the body to the chassis and permitting at least one degree of controlled motion of the body independent of motion of the chassis;

(d) a programmable controller that controls the motion apparatus, wherein the controller receives and transmits data based on an external signal that is either derived from the motion of the vehicle or provided by an off board device.

19. The dynamic ride vehicle of claim 18, wherein the external signal is provided by a passenger on the vehicle.

20. The dynamic ride vehicle of claim 18, wherein the external signal is derived from the motion of the vehicle.

21. The dynamic ride vehicle of claim 20, wherein the external signal represents speed.

22. The dynamic ride vehicle of claim 20, wherein the external signal represents vehicle position relative to the path.

23. The dynamic ride vehicle of claim 18, wherein the controller transmits information to the off board device.

24. In a simulator device for use in simulating a vehicle ride, wherein a passenger holding body is articulated by a motion apparatus in at least two degrees of motion in synchronization with the presentation of visual effects to a passenger, the improvement comprising:

(a) a movable vehicle that supports the body and the motion apparatus for articulation of the body with respect to the vehicle during motion of the vehicle;

(b) a vehicle path leading through differing environments whereby the vehicle may be moved through the differing environments to thereby present differing visual effects to the passenger;

(c) a sensor that senses the presence of predefined conditions corresponding to the different environments; and

(d) a motion apparatus controller coupled to the sensor that, in response to the presence of the predefined conditions, articulates the body with respect to the vehicle contemporaneously with the motion of the vehicle to thereby synchronize actuation of the motion apparatus with the presentation of visual effects to the passenger.

25. In the simulator device of claim 24, the improvement wherein the motion apparatus controller includes a computer, the improvement further comprises controlling movement of the vehicle using the computer, and wherein the articulation of the body and movement of the vehicle are each controlled according to preprogrammed instructions which are stored and accessed by the computer according to a common frame of reference.

26. In the simulator device of claim 25, the improvement wherein the common frame of reference is dependent upon a clock signal.

27. In the simulator device of claim 24, wherein the improvement further comprises providing variable steering to the vehicle, wherein the motion apparatus controller includes a computer, and wherein articulation of the body is controlled according to sensing of the direction of steering by the computer and association by the computer of a pattern of steering with stored data representing a selected pattern of articulation of the body.

28. A dynamic ride vehicle that moves along a path through an environment external to the vehicle and imparts a motion experience to a passenger of the vehicle as the passenger is moved along the path by the vehicle, comprising:

(a) a chassis that moves along the path through the environment;

(b) a motion apparatus that couples the chassis and the body, the motion apparatus being selectively actuated to impart motion to the body as the vehicle moves along the path;

(c) a memory that stores a sequence of information for controlling actuation of the motion apparatus to impart motion to the body in superposition to motion imparted to the body by the motion of the chassis along the path;

(d) a controller that is coupled to the memory to retrieve therefrom data from the sequence of information and that actuates the motion apparatus in response thereto; and

(e) a trigger that detects an event indicating that the next piece of information in the sequence of information is to be used to control actuation of the motion apparatus and that in response thereto triggers the actuation of the motion apparatus in response to said next piece of information.

29. The dynamic ride vehicle of claim 28, wherein:

(a) the trigger includes a sensor that is electronically coupled to the controller; and

(b) the detected event indicating that said next piece of information is to be used is the attainment of the vehicle of a predefined position along the path.

30. The dynamic ride vehicle of claim 29, wherein the position of the vehicle is determined by receipt of an electromagnetic transmission representative of the vehicle'"'"'s position from a source external to the vehicle, the sensor being an antenna.

31. The dynamic ride vehicle of claim 29, wherein the position of the vehicle is determined by position indicia external to the vehicle.

32. The dynamic ride vehicle of claim 29, wherein the position of the vehicle is determined by an incremental position indicator maintained by the controller.

33. The dynamic ride vehicle of claim 29, wherein the position of the vehicle is approximated in reference to a time elapsed from a predetermined reference time, the sensor being a clock.

34. The dynamic ride vehicle of claim 28, wherein the memory is an electronic memory.

35. The dynamic ride vehicle of claim 34, wherein the electronic memory includes a plurality of different sequences of information which are selected in the alternative.

36. The dynamic ride vehicle of claim 34, wherein the electronic memory is resident on the vehicle and is adapted to be programmed and edited by a detachable programming console without removal of the electronic memory from the vehicle to edit relative motion of the chassis with respect to the path and of the passenger holding body with respect to the chassis, with the sequence of information that has been programmed or edited subsequently retained in the electronic memory.

37. The dynamic ride vehicle of claim 34, wherein the electronic memory is erasable and is selectively reprogrammed to alter the sequence of information.

38. The dynamic ride vehicle of claim 34, wherein the electronic memory is modular and replaceable, and is selectively replaced with an electronic memory having a second sequence of information.

39. The dynamic ride vehicle of claim 28, wherein the trigger includes at least one sensor that senses and distinguishes movements of the vehicle, wherein the sequence of information controlling actuation of the motion apparatus is selected to correspond to a predetermined, sensed movement of the vehicle.

40. The dynamic ride vehicle of claim 39, wherein the vehicle includes an operator steering interface, whereby an operator can steer the vehicle along a non-predefined path, wherein the controller actuates the motion apparatus to alter the centripetal force experienced by the passenger within the body from that provided by mere turning of the chassis.

41. The dynamic ride vehicle of claim 39, wherein the vehicle includes an operator speed interface, whereby an operator can control the speed of the vehicle along the path, and wherein the controller actuates the motion apparatus to alter the acceleration and deceleration forces experienced by the passenger within the body from that provided by mere acceleration and deceleration of the chassis.

42. A dynamic ride vehicle that moves along a path through an environment external to the vehicle, comprising:

(a) a wheeled chassis that moves the vehicle along the path;

(b) a body that carries a passenger;

(c) a motion apparatus connecting the chassis to the body that selectively imparts motion to the body along a plurality of degrees of motion relative to the chassis, wherein the motion apparatus may be operated independently of motion of the chassis along the path; and

(d) a programmable controller that controls operation of the motion apparatus and thereby the motion imparted to the body relative to the chassis, wherein the controller includes a microprocessor-based system and electronic memory, and wherein each of chassis velocity, steering, and the actions of the motion apparatus are controlled by the microprocessor-based system according to preprogrammed instructions, such that the motion of the chassis with respect to the environment and the motion of the body with respect to the chassis are predefined.

43. In a method of enhancing a vehicle ride, wherein a passenger holding body is articulated by a motion apparatus in multiple degrees of motion in synchronization with the presentation of visual effects to a passenger, the improvement comprising:

(a) mounting the body and the motion apparatus on a vehicle having an independent source of motion;

(b) moving the vehicle to bring the passenger into differing environments and thereby present different visual effects to the passenger; and

(c) articulating the body with respect to the vehicle, contemporaneously with the motion of the vehicle and in synchronization therewith, to thereby synchronize actuation of the motion apparatus with the presentation of visual effects to the passenger, and wherein a computer controls both the independent source of motion, to thereby control movement of the vehicle along the path, and the articulation of the body according to preprogrammed instructions stored by the computer.

44. In the method of claim 43, wherein the presentation of visual effects to the passenger is accomplished by changing at least one of the direction, acceleration, deceleration and speed of the vehicle, such that the environment external to the vehicle appears to the passenger to differ in at least one of direction, acceleration, deceleration and speed.

45. A method of moving a dynamic ride vehicle that moves along a path through an environment external to the vehicle, wherein the vehicle has a chassis that moves along the path with respect to the environment, a body, a motion apparatus that is adapted to articulate the body with respect to the chassis, and a programmable controller that controls the motion of the chassis and the motion apparatus to execute and coordinate programmably defined motion patterns, comprising the steps of:

moving the chassis with respect to the path;

moving the body in one of the predefined motion patterns in at least one degree of controlled motion independent of any motion of the chassis as the chassis is moved along the path with respect to the environment; and

coordinating relative motion between the body and the chassis.

46. The dynamic ride vehicle of claim 45, wherein the controller includes a microprocessor-based system having a clock, and wherein the controller uses the clock to coordinate preprogrammed motion of the chassis relative to the environment with preprogrammed motion of the body relative to the chassis, such that specific motions of the body relative to the chassis are thereby synchronized with motion of chassis as the vehicle moves through the external environment to thereby impart motion to the passenger that is associated with the external environment.

47. The method of claim 45, further comprising the step of moving the chassis along the path, such that motion of the body is performed in response to the motion of the chassis.

48. The method of claim 47, further comprising the step of steering the chassis to control the direction of motion of the chassis relative to the environment.

49. The method of claim 48, further comprising the steps of controlling both movement of the body with respect to the chassis and at least one of (a) speed of movement of the chassis along the path through the environment, and (b) direction of movement of the chassis along the path through the environment, both with respect to sequenced preprogrammed instructions that are indexed by a common frame of reference.

50. The method of claim 47, wherein the dynamic ride vehicle has a pair of steerable front wheels and a pair of rear wheels, further comprising the step of steering the front wheels to control the direction of motion of the chassis relative to the environment.

51. The method of claim 47, wherein the dynamic ride vehicle has a pair of steerable front wheels and a pair of steerable rear wheels, further comprising the step of steering the front wheels and the rear wheels to control the direction of motion of the chassis relative to the environment.

52. The method of claim 51, further comprising the step of steering the front wheels and the rear wheels independently of each other.

53. The method of claim 47, wherein the steps of moving the body and the chassis result in the turning of a corner in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward with the body in a substantially level position with respect to the chassis prior to initiating the turn, steering the chassis in a direction to follow a curved path while simultaneously causing rotational acceleration of the body with respect to the chassis, about a roll axis in an outward direction with respect to the turn, until the vehicle has substantially reached the apex of the curved path, to thereby exaggerate and enhance the passenger'"'"'s sensation of the speed and sharpness of the corner, and then rotationally accelerating the body back inwardly until it reaches a relatively level position with respect to the chassis substantially at the end of the turn.

54. The method of claim 47, wherein the steps of moving the body and the chassis result in the turning of a corner in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward with the body in a substantially level position with respect to the chassis prior to initiating the turn, steering the chassis in a direction to follow a curved path while simultaneously causing rotational acceleration of the body with respect to the chassis, about a roll axis in an inward direction with respect to the turn, until the vehicle has substantially reached the apex of the curved path to thereby subdue and minimize the passenger'"'"'s sensation of the speed and sharpness of the corner, and then rotationally accelerating the body back outwardly until it reaches a relatively level position with respect to the chassis substantially at the end of the turn.

55. The method of claim 47, wherein the step of moving the chassis results in the turning of a corner in the dynamic ride vehicle, wherein said step comprises moving the chassis forward with the body in a substantially level position with respect to the chassis, steering front wheels of the chassis in a direction to follow a curved path, while, as the vehicle enters the turn, steering rear wheels of the vehicle away from the direction of the turn, with the rear wheels steering more than the front wheels, thereby causing the back end of the vehicle to swing outwardly during the turn to give the effect of sliding, and then steering the rear wheels back inwardly momentarily as the vehicle comes out of the turn, thereby causing the back end of the vehicle to swing quickly inwardly to simulate the effect of the vehicle sliding during the turn.

56. The method of claim 47, wherein the steps of moving the body and the chassis result in enhancing the sensation of forward acceleration of the dynamic ride vehicle, wherein said steps comprise accelerating the chassis in a forward direction along the path, while quickly pitching the body backward, by causing rotational acceleration of the body in a rearward direction about a pitch axis, and then slowly pitching the body forward until it reaches a substantially level position with respect to the chassis to thereby exaggerate and enhance the passenger'"'"'s sensation of the acceleration of the vehicle.

57. The method of claim 47, wherein the steps of moving the body and the chassis result in the enhancing the sensation of braking of the dynamic ride vehicle, wherein said steps comprise decelerating the chassis as it moves in a forward direction along the path, while simultaneously pitching the body forward, by causing rotational acceleration of the body in a forward direction about a pitch axis, and then quickly pitching the body backward to a substantially level position with respect to the chassis just as the chassis stops, to thereby exaggerate and enhance the passenger'"'"'s sensation of the braking of the vehicle.

58. The method of claim 47, wherein the steps of moving the body and the chassis result in the simulated effect of driving over an imaginary object in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward to a point corresponding to the location of the imaginary object, quickly pitching the body backward and then forward by causing rotational acceleration of the body about a pitch axis thereby causing the front end of the body to quickly raise up and then drop down as the front of the vehicle passes the point corresponding to the location of the imaginary object, waiting for an elapsed distance traveled by the chassis that corresponds to the rear of the vehicle reaching the imaginary object, and then quickly pitching the body forward and then backward by causing rotational acceleration of the body about the pitch axis thereby causing the rear end of the body to quickly raise up and then drop down as the vehicle continues to move forward passing the imaginary object.

59. The method of claim 58, further comprising the steps of rotationally accelerating the body forward and backward about the pitch axis for several cycles after the vehicle has passed the imaginary object, decreasing the amplitude of the pitching motion as the distance between the vehicle and the imaginary object increases, and then returning the body to a substantially level position with respect to the chassis.

60. The method of claim 47, wherein the steps of moving the body and the chassis result in the simulated effect of driving over an imaginary dip in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward to a point corresponding to the location of the imaginary dip, raising and causing rotational acceleration of the rear end of the body about a pitch axis and then dropping it back down as the front of the vehicle passes the point corresponding to the location of the imaginary dip, waiting for an elapsed distance traveled by the chassis that corresponds to the rear of the vehicle reaching the imaginary dip, and then raising and causing rotational acceleration of the front end of the body about the pitch axis and then dropping it back down as the vehicle continues to move forward passing the imaginary dip.

61. The method of claim 60, further comprising the steps of causing rotational acceleration of the body forward and backward about the pitch axis for several cycles after the vehicle has passed the imaginary dip, decreasing the amplitude of the pitching motion as the distance between the vehicle and the imaginary dip increases, and then returning the body to a substantially level position with respect to the chassis.

62. The method of claim 47, wherein the steps of moving the body and the chassis result in the simulated effect of climbing a hill in the dynamic ride vehicle, wherein said steps comprising moving the chassis forward along the path, pitching the body backward by raising and causing rotational acceleration of the front end about a pitch axis and keeping the body in this position as the imaginary hill is climbed, and then raising the rear end of the body until it reaches a substantially level position.

63. The method of claim 47, wherein the steps of moving the body and the chassis result in the simulated effect of descending a hill in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward along the path with the body in a substantially horizontal but elevated position with respect to the chassis, pitching the body forward by lowering and causing rotational acceleration of the front end about a pitch axis and keeping the body in this position as the imaginary hill is descended, and then dropping the rear end of the body down until it reaches a substantially level position.

64. The method of claim 47, wherein the steps of moving the body and the chassis result in the simulated effect of floating or flying in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward along the path while gently rolling and pitching the body in a random fashion with respect to the chassis by causing rotational acceleration of the body about a roll axis and a pitch axis.

65. The method of claim 47, wherein the steps of moving the body and the chassis result in the simulated effect of fish-tailing in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward along the path in substantially a straight line, initially steering rear wheels of the vehicle in one direction followed moments later by steering front wheels of the vehicle in the same direction as the rear wheels, and then simultaneously steering both the front and rear wheels in the opposite direction, thereby causing the vehicle to move back and forth in the yaw direction, such that the center of gravity of the vehicle continues in substantially a straight line.

66. The method of claim 47, wherein the steps of moving the body and the chassis result in the simulated effect of side-to-side swaying in the dynamic ride vehicle, wherein said steps comprise moving the chassis forward along the path in a substantially straight line and then steering both front and rear wheels of the vehicle simultaneously in one direction causing the vehicle to move to one side of the path, steering both the front and rear wheels in the forward direction momentarily and then simultaneously steering both the front and rear wheels in the opposite direction causing the vehicle to move to the other side of the path, such that the center of gravity of the vehicle moves from side-to-side as the vehicle travels along the path while gently rolling and pitching the body in a random fashion with respect to the chassis by causing rotational acceleration of the body about a roll axis and a pitch axis.

67. The method of claim 45, wherein the step of moving the body includes moving the body in at least one degree of controlled motion including moving the body in at least one roll, pitch, heave, yaw, slip and surge.

68. The method of claim 45, wherein the motion apparatus comprises at least one actuator for imparting motion to the body relative to the chassis, further comprising the step of controlling the actuator to cause controlled motion of the body.

69. The method of claim 45, wherein the controller includes an electronic memory that stores a sequence of data that defines the motion of the body with respect to the chassis, a plurality of data in the sequence each associated with a specific motion of the chassis relative to the environment, further comprising the step of retrieving one of the plurality of data from the electronic memory in association with a specific motion of the chassis and transmitting control signals representative thereof via the controller to synchronize specific motion of the body relative to the chassis with motion of the chassis relative to the environment.

70. The method of claim 69, further comprising the step of receiving and transmitting data via the controller based on an external signal.

71. The method of claim 70, wherein the external signal is provided by a passenger on the dynamic ride vehicle.

72. The method of claim 70, wherein the external signal is provided by a tachometer on the dynamic ride vehicle.

73. The method of claim 70, wherein the external signal is provided by a trigger.

74. The method of claim 70, wherein the external signal is derived from the motion of the dynamic ride vehicle.

75. The method of claim 70, wherein the external signal is provided by an off board device.

76. A method of moving a dynamic ride vehicle that moves along a path through an environment external to the vehicle, wherein the vehicle has a chassis that moves along the path with respect to the environment, a body, a motion apparatus including at least one actuator that is adapted to articulate the body with respect to the chassis during movement of the chassis, and a programmable controller that controls the motion of the chassis and the motion apparatus, comprising the steps of

advancing the chassis along the path;

moving the body in at least one degree of controlled motion independent of any motion of the chassis as the chassis is advanced along the path with respect to the environment; and

coordinating the advancement of the chassis and the motion of the body to execute predefined motion patterns by the vehicle.

77. The dynamic ride vehicle of claim 76, wherein the motion apparatus includes at least two hydraulic actuators that are adapted to articulate the body in at least two degrees of motion with respect to the chassis during movement of the chassis, wherein the step of moving the body includes the step of selectively moving the body in at least two degrees of controlled motion independent of the chassis as the chassis is advanced along the path with respect to the environment.

78. A dynamic ride vehicle that carries a passenger and that moves along a path through an environment external to the vehicle, comprising:

(a) a chassis adapted to follow the path;

(b) a body that carries the passenger and that permits viewing of the environment by the passenger;

(c) a motion apparatus supporting the body and connecting the body to the chassis, wherein the motion apparatus articulates the body in a plurality of degrees of freedom relative to and independent of motion of the chassis; and

(d) a controller that controls and coordinates the motion of the chassis and the motion apparatus to articulate the body relative to the chassis.