Vehicle control by pitch modulation
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United States of America Patent
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May 10, 2011
Grant Date -
Jun 10, 2010
app pub date -
Feb 18, 2010
filing date -
Jun 11, 2002
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Abstract
A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.
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- 15 United States
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Patent Owner(s)
- DEKA PRODUCTS LIMITED PARTNERSHIP;DEKA PRODUCTS LIMITED LIABILITY
International Classification(s)
Inventor(s)
Inventor Name | Address | # of filed Patents | Total Citations |
---|---|---|---|
Ambrogi, Robert R | Manchester, US | 64 | 3467 |
Flynn, Catharine N | Manchester, US | 15 | 1009 |
Kamen, Dean | Bedford, US | 502 | 27759 |
Kerwin, John M | Manchester, US | 196 | 14068 |
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Surcharge after expiration - Late payment is unavoidable | $700.00 | $350.00 | $175.00 |
Surcharge after expiration - Late payment is unintentional | $1,640.00 | $820.00 | $410.00 |
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