| US 7,546,889 B2 | ||
| Guided control of a transporter | ||
| Dean L. Kamen, Bedford, N.H. (US); Burl Amsbury, Boulder, Colo. (US); J. Douglas Field, Bedford, N.H. (US); Christopher C. Langenfeld, Nashua, N.H. (US); John B. Morrell, Bedford, N.H. (US); Jonathan B. Pompa, La Jolla, Calif. (US); Jon M. Stevens, Manchester, N.H. (US); and Jeremy B. Lund, Amherst, N.H. (US) | ||
| Assigned to DEKA Products Limited Partnership, Manchester, N.H. (US) | ||
| Filed on Jun. 16, 2003, as Appl. No. 10/462,379. | ||
| Application 10/462379 is a continuation in part of application No. 09/325976, filed on Jun. 04, 1999, granted, now 7,370,713. | ||
| Application 09/325976 is a continuation in part of application No. 08/479901, filed on Jun. 07, 1995, granted, now 5,975,225. | ||
| Application 08/479901 is a continuation in part of application No. 08/384705, filed on Feb. 03, 1995, granted, now 5,971,091. | ||
| Application 08/384705 is a continuation in part of application No. 08/250693, filed on May 27, 1994, granted, now 5,701,965. | ||
| Application 08/250693 is a continuation in part of application No. 08/021789, filed on Feb. 24, 1993, abandoned. | ||
| Application 08/250693 is a continuation in part of application No. 10/462379. | ||
| Application 10/462379 is a continuation in part of application No. 10/308888, filed on Dec. 03, 2002, abandoned. | ||
| Claims priority of provisional application 60/388937, filed on Jun. 14, 2002. | ||
| Claims priority of provisional application 60/347800, filed on Jan. 10, 2002. | ||
| Claims priority of provisional application 60/336601, filed on Dec. 05, 2001. | ||
| Prior Publication US 2004/0011573 A1, Jan. 22, 2004 | ||
| Int. Cl. B62D 61/12 (2006.01) | ||
| U.S. Cl. 180—7.1 [180/333] | 17 Claims |
| 1. A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for
dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:
a. receiving an input via the user input;
b. generating a control signal corresponding to the input received; and
c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter
on the basis of at least the control signal; and
d. wherein the step of applying the torque includes applying a torque proportional to a sum of coadded terms including at
least a first term proportional to the control signal and a second term proportional to additive inverse of the wheel velocity
common to the two wheels.
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