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Vehicle control by pitch modulation

  • US 7,690,452 B2
  • Filed: 10/11/2005
  • Issued: 04/06/2010
  • Est. Priority Date: 06/11/2002
  • Status: Active Grant
First Claim
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1. An apparatus for pitch stabilization of the motion of a vehicle having at least one forward wheel and at least one aft wheel, the apparatus comprising:

  • a sensor for sensing a force on the forward wheel normal to an instantaneous direction of motion of the vehicle;

    a motor actuator for driving the aft wheel; and

    a controller for applying a torque to the aft wheel on the basis of a control law based at least on the normal force on the forward wheel;

    wherein the controller causes the motor actuator to apply a periodic torque to the at least one aft wheel to induce a small pitch modulation.

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