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Balancing vehicle with passive pivotable support

  • US 6,561,294 B1
  • Filed: 08/31/1999
  • Issued: 05/13/2003
  • Est. Priority Date: 02/03/1995
  • Status: Expired due to Term
First Claim
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1. A device for transporting a human subject over a surface, the device comprising:

  • a. platform defining a fore-aft plane, the platform supporting a payload including the human subject;

    b. a ground-contacting module, including a ground-contacting member movably coupled to the platform, the ground contacting member characterized by a region of contact with the ground, the platform and the ground-contacting module being components of an assembly having a center of gravity, the center of gravity having a position defined with respect to the ground-contacting member;

    c. a support for supporting the subject, the support coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by a movement of the support by the subject with respect to the platform while the device traverses the surface; and

    d. a drive, coupled to the ground-contacting module, for delivering power to the ground-contacting module in a manner responsive to the position of the center of gravity.

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