Dynamically stable transporter controlled by lean

Details Dynamically stable transporter controlled by lean Dynamically stable transporter controlled by lean

2007-02-13

2007-02-13

Morris, Lesley D. (Department: 3611)

Motor vehicles

Steered by walking attendant

C180S019300, C180S019200, C180S007100, C180S006500, C280S047340

Reexamination Certificate

active

11144309

ABSTRACT:
A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.

REFERENCES:
patent: 584127 (1897-06-01), Draullette et al.
patent: 849270 (1907-04-01), Schafer et al.
patent: 1739716 (1929-12-01), Fisher
patent: 2742973 (1956-04-01), Johannesen
patent: 3145797 (1964-08-01), Taylor
patent: 3260324 (1966-07-01), Suarez
patent: 3283398 (1966-11-01), Andren
patent: 3374845 (1968-03-01), Selwyn
patent: 3399742 (1968-09-01), Malick
patent: 3446304 (1969-05-01), Alimanestiano
patent: 3450219 (1969-06-01), Fleming
patent: 3515401 (1970-06-01), Gross
patent: 3580344 (1971-05-01), Floyd
patent: 3596298 (1971-08-01), Durst, Jr.
patent: 3724874 (1973-04-01), Simpson
patent: 3860264 (1975-01-01), Douglas et al.
patent: 3872945 (1975-03-01), Hickman et al.
patent: 3952822 (1976-04-01), Udden et al.
patent: 3967862 (1976-07-01), Hunter et al.
patent: 4018440 (1977-04-01), Deutsch
patent: 4062558 (1977-12-01), Wasserman
patent: 4076270 (1978-02-01), Winchell
patent: 4088199 (1978-05-01), Trautwein
patent: 4094372 (1978-06-01), Notter
patent: 4109741 (1978-08-01), Gabriel
patent: 4111445 (1978-09-01), Haibeck
patent: 4151892 (1979-05-01), Francken
patent: 4222449 (1980-09-01), Feliz
patent: 4264082 (1981-04-01), Fouchey, Jr.
patent: 4266627 (1981-05-01), Lauber
patent: 4293052 (1981-10-01), Daswick et al.
patent: 4325565 (1982-04-01), Winchell
patent: 4354569 (1982-10-01), Eichholz
patent: 4363493 (1982-12-01), Veneklasen
patent: 4373600 (1983-02-01), Buschbom et al.
patent: 4375840 (1983-03-01), Campbell
patent: 4510956 (1985-04-01), King
patent: 4560022 (1985-12-01), Kassai
patent: 4566707 (1986-01-01), Nitzberg
patent: 4570078 (1986-02-01), Yashima et al.
patent: 4571844 (1986-02-01), Komasaku et al.
patent: 4624469 (1986-11-01), Bourne, Jr.
patent: 4645230 (1987-02-01), Hammons
patent: 4657272 (1987-04-01), Davenport
patent: 4685693 (1987-08-01), Vadjunec
patent: 4709772 (1987-12-01), Brunet
patent: 4716980 (1988-01-01), Butler
patent: 4740001 (1988-04-01), Torleumke
patent: 4746132 (1988-05-01), Eagan
patent: 4770410 (1988-09-01), Brown
patent: 4786069 (1988-11-01), Tang
patent: 4790400 (1988-12-01), Sheeter
patent: 4790548 (1988-12-01), Decelles et al.
patent: 4794999 (1989-01-01), Hester
patent: 4798255 (1989-01-01), Wu
patent: 4802542 (1989-02-01), Houston et al.
patent: 4809804 (1989-03-01), Houston et al.
patent: 4834200 (1989-05-01), Kajita
patent: 4863182 (1989-09-01), Chern
patent: 4867188 (1989-09-01), Reid
patent: 4869279 (1989-09-01), Hedges
patent: 4874055 (1989-10-01), Beer
patent: 4890853 (1990-01-01), Olson
patent: 4919225 (1990-04-01), Sturges
patent: 4953851 (1990-09-01), Sherlock et al.
patent: 4984754 (1991-01-01), Yarrington
patent: 4985947 (1991-01-01), Ethridge
patent: 4998596 (1991-03-01), Miksitz
patent: 5002295 (1991-03-01), Lin
patent: 5011170 (1991-04-01), Forbes et al.
patent: 5011171 (1991-04-01), Cook
patent: 5052237 (1991-10-01), Reimann
patent: 5064209 (1991-11-01), Kurschat
patent: 5111899 (1992-05-01), Reimann
patent: 5135063 (1992-08-01), Kropf
patent: 5158493 (1992-10-01), Morgrey
patent: 5161820 (1992-11-01), Vollmer
patent: 5168947 (1992-12-01), Rodenborn
patent: 5171173 (1992-12-01), Henderson et al.
patent: 5186270 (1993-02-01), West
patent: 5221883 (1993-06-01), Takenaka et al.
patent: 5240266 (1993-08-01), Kelley et al.
patent: 5241875 (1993-09-01), Kochanneck
patent: 5248007 (1993-09-01), Watkins et al.
patent: 5314034 (1994-05-01), Chittal
patent: 5350033 (1994-09-01), Kraft
patent: 5366036 (1994-11-01), Perry
patent: 5376868 (1994-12-01), Toyoda et al.
patent: 5419624 (1995-05-01), Adler et al.
patent: 5641173 (1997-06-01), Cobb
patent: 5655615 (1997-08-01), Mick
patent: 5657828 (1997-08-01), Nagamachi
patent: 5701965 (1997-12-01), Kamen et al.
patent: 5701968 (1997-12-01), Wright-Ott et al.
patent: 5718534 (1998-02-01), Neuling
patent: 5775452 (1998-07-01), Patmont
patent: 5791425 (1998-08-01), Kamen et al.
patent: 5794730 (1998-08-01), Kamen
patent: 5873582 (1999-02-01), Kauffman et al.
patent: 5921844 (1999-07-01), Hollick
patent: 5947505 (1999-09-01), Martin
patent: 5971091 (1999-10-01), Kamen et al.
patent: 5973463 (1999-10-01), Okuda et al.
patent: 5975225 (1999-11-01), Kamen et al.
patent: 5986221 (1999-11-01), Stanley
patent: 6003624 (1999-12-01), Jorgensen et al.
patent: 6039142 (2000-03-01), Eckstein et al.
patent: 6050357 (2000-04-01), Staelin et al.
patent: 6059062 (2000-05-01), Staelin et al.
patent: 6125957 (2000-10-01), Kauffmann
patent: 6131057 (2000-10-01), Tamaki et al.
patent: 6223104 (2001-04-01), Kamen et al.
patent: 6223114 (2001-04-01), Boros et al.
patent: 6225977 (2001-05-01), Li
patent: 6288505 (2001-09-01), Heinzmann et al.
patent: 6302230 (2001-10-01), Kamen et al.
patent: 2002/0063006 (2002-05-01), Burl et al.
patent: 2004/0069543 (2004-04-01), Kamen et al.
patent: 2 048 593 (1971-05-01), None
patent: 31 28 112 (1983-02-01), None
patent: 32 42 880 (1983-06-01), None
patent: 3411489 (1984-10-01), None
patent: 44 04 594 (1995-08-01), None
patent: 196 25 498 (1997-11-01), None
patent: 298 08 091 (1998-10-01), None
patent: 298 08 096 (1998-10-01), None
patent: 0 109 927 (1984-07-01), None
patent: 0 193 473 (1986-09-01), None
patent: 0 537 698 (1993-04-01), None
patent: 0 958 978 (1999-11-01), None
patent: 980 237 (1951-05-01), None
patent: 2 502 090 (1982-09-01), None
patent: 152664 (1922-02-01), None
patent: 1213930 (1970-11-01), None
patent: 2 139 576 (1984-11-01), None
patent: 0663 313 (1995-07-01), None
patent: 2 358 163 (2000-01-01), None
patent: 52-44933 (1975-10-01), None
patent: 57-87766 (1982-06-01), None
patent: 57-110569 (1982-09-01), None
patent: 59-73372 (1984-04-01), None
patent: 62-12810 (1985-07-01), None
patent: 0255580 (1985-12-01), None
patent: 61-31685 (1986-02-01), None
patent: 63-305082 (1988-12-01), None
patent: 2-190277 (1990-07-01), None
patent: 4-201793 (1992-07-01), None
patent: 6-171562 (1992-12-01), None
patent: 5-213240 (1993-08-01), None
patent: 6-105415 (1994-12-01), None
patent: 7255780 (1995-03-01), None
patent: WO 86/05752 (1986-10-01), None
patent: WO 89/06117 (1989-07-01), None
patent: WO 96/23478 (1996-08-01), None
patent: WO 98/46474 (1998-10-01), None
patent: WO 00/73101 (2000-12-01), None
patent: WO 00 75001 (2000-12-01), None
Kawaji, S.,Stabilization of Unicycle Using Spinning Motion,Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan (1987), pp. 1-22.
Schoonwinkel, A.,Design and Test of a Computer-Stabilized Unicycle, Stanford University (1988), UMI Dissertation Services.
Vos, D.,Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle, Massachusetts Institute of Technology, 1992.
Vos, D.,Nonlinear Control of an Autonomous Unicycle Robot: Practical Isues, Massachusetts Institute of Technology, 1992.
Koyanagi et al.,A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and its Posture Control and Vehicle Control,The Society of Instrument and Control Engineers, Special issue of the 31stSICE Annual Conference, Japan 1992, pp. 13-16.
Koyanagi et al.,A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot,The Society of Instrument and Control Engineers, Special issue of the 31stSICE Annual Conference, Japan 1992, pp. 51-56.
Koyanagi et al.,A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and its Two Dimensional Trajectory Control,Proceeding of the Second International Symposium on Measurement and Control in Robotics, Japan 1992, pp. 891-898.
Watson Industries, Inc., Vertical Reference Manual ADS-C132-1A, 1992, pp. 3-4.
News articleA

Affiliated with

Also associated with

Rating

Dynamically stable transporter controlled by lean does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Dynamically stable transporter controlled by lean, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Dynamically stable transporter controlled by lean will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-3813383