Enhanced control of a transporter
First Claim
1. A balancing transporter, comprising:
- a platform for supporting a load;
at least one primary ground-contacting element;
an actuator for applying torque to the at least one primary ground-contacting element for propelling the transporter with respect to a surface;
a controller for controlling the actuator, the controller comprises an input for receiving specification by a user of a desired direction of travel based on a position of a member with respect to a fiducial axis, a differentiator for calculating a rate of change of the position of the member with respect to the fiducial axis, and a processor for generating a yaw command signal based at least on the position of the member and the rate of change of the position of the member which is weighted based on the level of experience of the user.
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0 Petitions
Accused Products
Abstract
A transporter that includes a platform for supporting a load and at least one primary ground-contacting element. The transporter includes an actuator for applying torque to the at least one primary ground-contacting element for propelling the transporter with respect to a surface. The transporter also includes a controller for controlling the actuator, the controller includes an input for receiving specification by a user of a desired direction of travel based on a position of a member with respect to a fiducial axis, a differentiator for calculating a rate of change of the position of the member with respect to the fiducial axis, and a processor for generating a yaw command signal based at least on the position of the member and the rate of change of the position of the member which is weighted based on the level of experience of the user.
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Citations
7 Claims
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1. A balancing transporter, comprising:
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a platform for supporting a load; at least one primary ground-contacting element; an actuator for applying torque to the at least one primary ground-contacting element for propelling the transporter with respect to a surface; a controller for controlling the actuator, the controller comprises an input for receiving specification by a user of a desired direction of travel based on a position of a member with respect to a fiducial axis, a differentiator for calculating a rate of change of the position of the member with respect to the fiducial axis, and a processor for generating a yaw command signal based at least on the position of the member and the rate of change of the position of the member which is weighted based on the level of experience of the user. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification