Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Vehicle subsystem or accessory control
Reexamination Certificate
2006-09-06
2009-12-29
Black, Thomas G (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Vehicle subsystem or accessory control
C701S022000, C180S006500, C280S250100
Reexamination Certificate
active
07640086
ABSTRACT:
A running object includes a body, at least two drive wheels disposed on a first axle, and at least one driven wheel disposed on a second axle. The running object is capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground. The running object includes a storing device that stores a target incline pattern that chronologically describes the target incline angle of the body during a transition from the standing posture to the stable posture; a detecting device that detects the incline angle and/or the incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the detecting device; and an actuator for applying the torque calculated by the calculating device to the drive wheels.
REFERENCES:
patent: 6003624 (1999-12-01), Jorgensen et al.
patent: 6353949 (2002-03-01), Falbo
patent: 6553271 (2003-04-01), Morrell
patent: 63-305082 (1988-12-01), None
Y. Takahashi, N. Ishikawa, and T. Hagiwara, “Soft Raising and Lowering of Front Wheels for Inverse Pendulum Control Wheel Chair Robot,” In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 3618-3623.
Fuwa Toshio
Motozono Yoshikazu
Nakashima Issei
Black Thomas G
Finnegan Henderson Farabow Garrett & Dunner LLP
Nolan Peter D
Toyota Jidosha & Kabushiki Kaisha
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