Control of a personal transporter based on user position
First Claim
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1. A transporter for transporting a user, the transporter comprising:
- a ground contacting module, the ground contacting module including at least one wheel, a user support platform, a motorized drive arrangement imparting a torque to the at least one wheel;
a plurality of sensors, at least one of the plurality of sensors including at least one sensor sensing a pitch of at least a portion of the transporter, at least one of the plurality of sensors including at least one tilt sensor sensing a tilt of the user support platform, the at least one tilt sensor generating a desired steering input signal based at least on the tilt; and
a controller determining the torque to be applied to the at least one ground contacting wheel, the torque based at least in part on the pitch and the desired steering input signal, the controller commanding the motorized drive arrangement to supply the torque, the motorized drive arrangement steering the transporter.
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Abstract
An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.
382 Citations
18 Claims
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1. A transporter for transporting a user, the transporter comprising:
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a ground contacting module, the ground contacting module including at least one wheel, a user support platform, a motorized drive arrangement imparting a torque to the at least one wheel; a plurality of sensors, at least one of the plurality of sensors including at least one sensor sensing a pitch of at least a portion of the transporter, at least one of the plurality of sensors including at least one tilt sensor sensing a tilt of the user support platform, the at least one tilt sensor generating a desired steering input signal based at least on the tilt; and a controller determining the torque to be applied to the at least one ground contacting wheel, the torque based at least in part on the pitch and the desired steering input signal, the controller commanding the motorized drive arrangement to supply the torque, the motorized drive arrangement steering the transporter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for transporting a user by a transporter, the transporter including a ground contacting module having at least one wheel, a user support platform, a motorized drive arrangement imparting a torque to the at least one wheel, a plurality of sensors, at least one of the plurality of sensors including an sensor sensing a pitch of at least a portion of the transporter, at least one of the plurality of sensors including at least one tilt sensor sensing a tilt of the user support platform generating a desired steering input signal, and a controller, the method comprising:
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determining, by the controller, the torque to be applied to the at least one wheel, the torque based at least in part on the pitch and the desired steering input signal; and commanding, by the controller, the motorized drive arrangement to supply the torque to steer the transporter. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification