Abstract: A vehicle with two parallel wheels according to the invention has split steps (2L, 2R), a vehicle body, a pair of wheels (4L, 4R) coaxially parallelly arranged, a pair of wheel drive units for independently driving the wheels (4L, 4R), and a pair of step run-on assisting mechanisms (8L, 8R) arranged corresponding to the wheels (4L, 4R) and changing the degree of dependency of step run-on operation. The step run-on assisting mechanisms (8L, 8R) each have an assisting turning member (15) having a circular arc support surface with a curvature radius greater than the radius of the wheel (4L, 4R) and having its turning center in front, in the travel direction, of the rotation center of the wheel, a link member (16) rotatably supporting the assisting turning member (15), and a damper (25, 26) for changing, according to the speed at which the assisting turning member (15) collides with a step, force retaining one end of the link member (16).

Abstract: The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis.

Abstract: The present invention relates to a mobile robot having jump function. An exemplary mobile robot according to an embodiment of the present invention includes a robot body, a pair of wheels, a driving motor, a leaf spring, and a leaf spring control unit. The pair of wheels are rotatably connected to the robot body. The driving motor drives the pair of wheels so as to move the robot body. The leaf spring has a fixed end fixedly connected to the robot body and a free end disposed to face the fixed end in a state of being apart from the robot body. The leaf spring control unit applies force for bending the leaf spring such that the free end of the leaf spring is pulled toward the robot body and then removes the force applied to the leaf spring such that the leaf spring returns to an original state.

Abstract: According to one embodiment, a movable apparatus includes a carriage, coaxial paired wheels configured to support the carriage, a wheel actuator configured to rotationally drive the paired wheels, a loading section provided above the carriage, a swinging section includes a first swinging mechanism configured to swing the loading section around a first shaft extending in a direction crossing an axle of the wheels and a second swinging mechanism configured to swing the loading section around a second shaft provided parallel to the axle, acceleration sensing device configured to measure accelerations, and a swing angle control device configured to control the swing angle of each of the first swinging mechanism and the second swinging mechanism, to swing the loading section in a direction in which a component force of the acceleration applied to the loading section in a horizontal direction and a component force of gravity are balanced.

Abstract: A traveling apparatus is provided with two wheels parallel each of which is driven independently, being controlled to be stable in an anteroposterior direction between the two wheels and traveling. The traveling apparatus includes a mechanism estimating an inclination of a plane where a pitch angular velocity sensor is horizontally installed with respect to a horizontal plane by using a sensor measuring a tilt of a vehicle body in a roll axis direction and a mechanism calculating a correct pitch angle by obtaining a yaw rate mixed in the pitch angular velocity sensor based on the estimated inclination and a turn velocity of the vehicle body and by canceling the yaw rate mixed.

Abstract: In a robot apparatus having a base unit, a wheel unit of an opposed-two-wheel type mounted on the base unit and having driving wheels drivable so as to face each other, and an upper-body unit provided on an upper portion of the base unit and configured by concatenating one or more joints; a robot apparatus includes an opposed-two-wheel equivalent model, a robot-state observing unit, a control unit performing a control arithmetic operation for the opposed-two-wheel equivalent model, a transforming unit transforming a part of control target values calculated by the control unit to a control target value for the wheel unit, and a joint control unit controlling a joint-driving actuator of the wheel unit and also controlling a joint-driving actuator other than the joint-driving actuator.

Abstract: A motorcycle that reduces air resistance without a cowling includes a steering handle, a headlight unit disposed in front of a handle base disposed at a substantial center of the steering handle, a meter unit disposed above the handle base, and a fuel tank disposed behind the handle base. In a side view of the motorcycle, the headlight top surface, the meter top surface and the fuel tank top surface are smoothly connected.

Abstract: A robot has an electronic surveillance system embedded within a chassis disposed between two wheels. The wheels include a main body and a plurality of treads. The treads are generally disposed radially around the main body and extend distally from outer portion of the main body. The main body generally defines a plurality of compression cells and may present a substantially frustoconical outer surface.

Abstract: A coaxial two-wheel vehicle is provided. The coaxial two-wheel vehicle includes a step plate for a rider to ride on; a vehicle body supporting the step plate to be capable of changing a posture in a roll direction of rotating around a roll axis as the center when a traveling direction is set to the roll axis; and a pair of wheels disposed on the same axis at both sides of the vehicle body in a direction orthogonal to the traveling direction and rotatably supported by the vehicle body. Further, the coaxial two-wheel vehicle includes a pair of wheel drivers driving and rotating the pair of wheels independently and a control lever directly changing a posture of the step plate or indirectly changing the posture through the vehicle body.

Abstract: A two-wheel vehicle having a roll axis rotation flexibility in which a servo motor is mounted to each of two wheels operating independently of each other fails to perform stable straight-forward traveling on a laterally inclined road because a neutral position by a spring force of a handle or a step varies with respect to a vertical axis as a vehicle body tilts in a roll axis direction due to a road slope. Further, in such a device, the handle or the step can tilt against intention due to a left and right unbalanced load of a passenger onto the step when getting on or off the vehicle. There is thus provided a control device that enables stable straight-forward traveling while maintaining a standing posture of a person vertically on a laterally inclined road through a motor control of the position of a handle or a step. There is also provided a control device that enables a rotation while a person maintains a vertical posture when a performing rotation operation on an inclined road.

Abstract: In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command ?ref serving as attitude command and current base angle ?0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position ?r of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T1 calculated by using pressure sensors to drive the motor rotor (92R).

Abstract: A transverse two-wheeled vehicle has an increased turning limit value. A turning limit estimation system obtains a turning limit value and a center-of-gravity position adjustment system improves the obtained turning limit value. The turning limit estimation system obtains values for turning limit and turning stability by estimating a center-of-gravity position and a lateral acceleration. In the center-of-gravity position adjustment system, the turning limit value is increased by causing the estimated center-of-gravity position to move toward a centripetal direction. The mechanism for moving the center of gravity to is one or more of i) a vehicle body tilt mechanism, ii) a weight movement mechanism, and iii) a seat parallel movement mechanism. Accordingly, particularly a vehicle with two wheels narrowly spaced and a high center of gravity, can make a faster and smaller turn, and driving performance, stability, and security of the turning operation are improved.

Abstract: Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheels 2 and 3, each being controlled through the inverted pendulum control, are disposed supporting legs 4 and 5, tips of which can be lifted up and down, wherein the tips of the supporting legs 4 and 5 are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs 4 and 5 are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down.

Abstract: A headlight assembly for a straddle-type vehicle (e.g., a motor scooter) is provided that is positioned lower to the ground and farther forward than typical headlights to provide enhanced illumination from a front end of the vehicle. The assembly comprises a front portion of a vehicle body cover that extends over a portion of the front wheel of the vehicle. A headlight assembly is disposed at least partially on a front end of the front portion of the vehicle body cover. The headlight assembly comprises an upper light for generating a low beam of light and a lower light for generating a high beam of light. In addition, the headlight comprises position lights disposed on the right side and the left side of the upper and lower lights. Preferably, at least a portion of the headlight assembly is positioned farther forward than a leading end of the front wheel of the vehicle.

Abstract: An inverted two-wheel guided vehicle is provided with a vehicle body 4 including a loading platform, a carriage 5 supported on wheels 1a, 1b, a moving mechanism 7 for displacing relative positions of the vehicle body 4 and the carriage 5, an inclination sensor 6 for detecting the posture of the vehicle body 4, and a controller 9 for controllably driving the wheels 1a, 1b and the moving mechanism 7. Since a posture control can be executed such that a seat 8 atop the vehicle body 4 is constantly horizontal by displacing the moving mechanism forward and backward even for a slope or a step in a travel path, a stable travel can be realized by preventing the collapse of baggage piles and giving no discomfort to a loaded person.

Abstract: A robot includes a main body and a moving mechanism for moving the main body. The moving mechanism includes a chassis, a pair of wheels, and a supporting unit. The chassis is at a bottom of the main body for assembling the moving mechanism with the main body. The pair of wheels are rotatably and coaxially mounted to the chassis. The supporting unit is pivotally mounted to the chassis. The supporting unit and two wheels are arranged on vertexes of a triangle, and a vertical line passing through the center of gravity of the main body passes through the triangle.

Abstract: Provided is a vehicle body which constitutes a coaxial two-wheel vehicle including two wheels coaxially arranged. The vehicle body includes: a parallel linkage that includes horizontal links and vertical links and is rotatable in a left-and-right direction of the coaxial two-wheel vehicle; and step plates respectively provided to upper end portions of the vertical links. A load of a passenger riding on the left and right step plates acts on the parallel linkage at a position inside or outside of a line which passes through a ground contact point of one of the wheels respectively mounted to the vertical links and which is in parallel with the vertical links.

Abstract: A centrifugal advance mechanism has drive and driven members connected with one another to rotate about a common axis as they move toward and away from each other along the common axis. A resilient element biases the members toward each other. A ramp on one of the members has an inner end portion and an outer end portion. The inner end portion is closer to the common axis than the outer end portion, the ramp rising as it moves from the inner end portion toward the outer end portion. A bail contacts the ramp and the other member. The resilient element biases the ball down the ramp, the ball traveling radially outward and up the ramp as the members rotate at increasing angular velocity thereby causing the members to separate from each other against the bias of the resilient element and to rotate with respect to each other.

Abstract: During vehicle operation, drive wheels are constantly monitored to see whether or not slip of drive wheels occurs and when slip is detected, posture control for slip conditions is performed by uncoupling normal posture control for the drive wheels. A balancer (weight body) which is movable in a longitudinal direction of the vehicle is provided, and posture control is performed by moving the balancer backward when the vehicle inclines forward due to slip and moving the balancer forward when the vehicle inclines backward. The detection of slip is through a comparison between the drive wheels circumferential speed V2 and a vehicle running speed V1.

Abstract: A mode changeover control system for a transmission wherein the starting of a vehicle can be prevented even if the transmission is changed over to the drive mode side while a side stand is in an erected position. In a motorcycle including a mode changeover mechanism for a continuously variable transmission, and a side stand, there is provided a changeover operation section changed over by the driver between operation positions corresponding respectively to a drive mode position and a neutral mode position of the mode changeover mechanism. An electronic control unit operates the mode changeover mechanism based on the changeover operation position of the changeover operation section. The control section is configured so as to continually maintain the mode changeover mechanism in the neutral mode position even if the changeover operation section is operated to a drive mode operation position while the side stand is in a stored position.

Abstract: A two-wheeled inverted robot includes a body, two wheels coaxially arranged on the body, a drive device for driving each of the wheels, a first state detector for detecting at least one of an inclination angle and an inclination angular speed of the body, a second state detector for detecting at least one of a rotation angle and a rotational angular speed of the wheel, a body constraint recognizing device for detecting whether or not body rotation is constrained, and a controller for determining a command value to the drive device. Based on the detection result by the body constraint recognizing device, the controller determines the command value for changing a ratio of a torque contributing to the body rotation.

Abstract: Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship.

Abstract: A disc brake cover structure for a vehicle includes a protection cover and a wheel collar. The protection cover is to protect a rotor of a disc brake disposed at a front wheel of a vehicle. The front wheel is rotatably supported via a support shaft between first and second axle holders disposed at a front fork. A wheel collar is to be supported on the support shaft to position the front wheel and connected to the protection cover. The wheel collar is arranged to be sandwiched between a hub of the front wheel and either one of the first and second axle holders.

Abstract: A power-driven device and a method of powering a power-driven device are disclosed. The power-driven device includes a body, at least one wheel configured to support the body, and a drive shaft in rotational communication with one or more of the at least one wheel, the drive shaft being in rotational communication with a drive interface, the drive interface being configured to releasably rotatably communicate with a motor-driven flexible drive shaft.

Abstract: A swing arm suspension for reducing the number of parts to thereby reduce the number of man-hours for assembly, the weight and the cost. The swing arm suspension includes a pivot plate provided with a pivot shaft, a swing arm having a rear end portion supporting a rear wheel that is swingably mounted at a front end portion to the pivot shaft and a shock absorber that is mounted at an upper end portion to the swing arm and connected at a lower end portion through a link mechanism to a portion of the pivot plate at a lower level than the pivot shaft. An exposing portion is provided for exposing a shock absorber arrangement space to an upper space above the swing arm. At least one of a subtank and an adjuster as functional components of the shock absorber is located in the exposing portion.

Abstract: The present invention provides a battery-free electronic key used in motorcycles and improves security. A communication circuit (44) is actuated when an electronic key is inserted into a keyhole. An electromotive force generated in a coil L2 is rectified by a power circuit (74) and supplied to the components of an electronic key-side circuit (40) as a source of power, in accordance with the variations of an electromagnetic field having a frequency of f0 generated by the communication circuit (44). The electronic key-side circuit (40) reads identification information from a storage unit (72), and the information is converted to ternary value data in a binary value/ternary value conversion circuit (70). Transistors Tr1 and Tr2 are switched on and off in accordance with the bit values of 2-bit data that expresses ternary value data, which generates three-stage variations in the electromagnetic field between coils L1 and L2.

Abstract: An electrically driven single-axle vehicle with a platform for a driver, driven about a common wheel axis to improve its handling and its range of uses. The vehicle includes at least one attachment, the attachment being connected to the single-axle vehicle pivotably about at least one first attachment axis.

Abstract: A control method for a transmission for a motorcycle having a plurality of shift gear trains such that the combination of gears meshing with each other is changed by driving an actuator to change a shift position. When a vehicle body inclination angle ? as a sideward inclination angle of a vehicle body of the motorcycle during running of the motorcycle becomes greater than or equal to a predetermined angle, a change in shift position in the transmission is inhibited. The method controls the transmission for the motorcycle in order to reduce an operational load on a rider during turning of the motorcycle.

Abstract: A coaxial two-wheel vehicle with which a rider stably travels without the upper body being swayed left and right in a riding state of the center of gravity being positioned high is provided. The coaxial two-wheel vehicle includes: a step plate for a driver to ride; a vehicle body that supports the step plate to be capable of changing a posture in a roll direction of rotating around a roll axis as the center, when a traveling direction is made the roll axis; a pair of wheels disposed on both sides on the same axis in the direction orthogonal to the traveling direction of the vehicle body and rotatably supported by the vehicle body; a pair of wheel drive means to drive and rotate the pair of wheels independently; and a handle for directly changing a posture of the step plate or indirectly changing the posture through the vehicle body.

Abstract: To provide a suspension system that can efficiently lay out a shock absorber and various accessories in a fuel cell electric vehicle where a fuel cell is mounted in the vicinity of a floor portion of the body. In a suspension system of a fuel cell electric vehicle provided with a fuel cell mounted in the vicinity of a floor portion of the body, a motor is provided for generating a driving force of a vehicle based upon electric power supplied from the fuel cell. A motor unit is supported by a body frame so that the motor unit can be rocked for housing the motor and a shock absorber provided between the motor unit and the body frame. The shock absorber is arranged under the fuel cell.

Abstract: The present invention relates to a vehicle which can travel in the front and back direction and which can turn by right and left wheels rotated when a rider riding on a step-board moves the position of rider's balance from the center of a vehicle base.

Abstract: A performance control system is provided that is adapted to regulate the output of an engine while maintaining stable combustion whereby the perceived operational feel and exhaust efficiency is improved. The performance control system includes an accelerator position sensor for detecting the position of an accelerator by a driver, an electronically controlled throttle adjuster for adjusting the opening of a throttle valve mounted in the intake pipe of an engine with a motor, and a control unit for controlling the throttle adjuster based on the output of the accelerator position sensor. When the engine output, characterized by engine speed or vehicle speed, reaches a predetermined value, the opening of the throttle valve is reduced from the standard opening of the throttle valve, based on the position of the accelerator.

Abstract: A structure for installing a rear cushion in a motorcycle having a hydraulic shock absorber with a subsidiary cylinder used as the suspension device. The rear swing arm includes a pair of left and right arm portions, the respective front portions being coupled with a first cross member and a second cross member. A pair of cushion brackets extend in the back-and-forth direction with the upper portion of the rear cushion sandwiched therebetween. The front and rear ends of the cushion brackets are coupled to the first and second cross members, thereby supporting the cushion brackets at both ends. An upper portion of the rear cushion fits within a space enclosed by the first and the second cross members, and the left and right cushion brackets, and is coupled to the intermediate portion of the left and right cushion brackets.

Abstract: Systems and methods for capturing pollutants from braking mechanisms are provided. The systems can include a pollution trap attached to a brake assembly, where the pollution trap can comprise an absorbent pad, filter, or membrane. The pollution trap can be positioned near a braking mechanism, for example, between a portion of the braking mechanism and a portion of a wheel, to collect pollutants including brake dust. The pollution trap can also be positioned on the wheel in various embodiments. The material used in the pollution trap can also be used to form gloves, cloths, sponges or wipes for cleaning brake dust.

Abstract: An exhaust gas pollution treatment device, having an inlet pipe, an outlet pipe with an exhaust path extending between the inlet pipe and the outlet pipe. A gas permeable backbone member is positioned in the exhaust path and a substantially fibrous nonwoven refractory material is disposed on the backbone.

Abstract: A method and assembly for mounting an auto rim and either motorcycle or auto tire as a motorcycle rear wheel. The assembly allows tires of different widths and diameters to be used on the rear of motorcycles that have single side swing arms and standard swing arms. The method and assembly allows a left side or right side drive which can be a belt or chain. A hub with bearings and spacers are mounted with a brake rotor disk and a drive pulley in tandem to produce a hub assembly.

Abstract: A coaxial two-wheeled vehicle includes a plurality of wheels disposed in parallel, a vehicle body, at least one of a step plate and a seat, an operating member, and a mechanism. The vehicle body supports plurality of wheels rotatably. The step plate is coupled to the vehicle body to carry a driver in an upright attitude. The seat is coupled to the vehicle body to seat the driver. The operating member is coupled to the vehicle body and operated by the driver for inputting driver's operation including an accelerating operation and a decelerating operation. The mechanism is configured to move at least one of the step plate and the seat in a front-rear direction of the vehicle body in accordance with an operation of the operating member.

Abstract: An exhaust pipe is connected to an engine with a muffler attached to an exhaust pipe. An exhaust valve is provided for controlling the flow rate of an exhaust gas on the side of the exhaust pipe. A recessed portion is directed toward the center of the vehicle body and is formed on the side of the swing arm with the exhaust valve being disposed in front in the vicinity of the recessed portion. Operating wires are laid along an air cleaner case so as to open and close the exhaust valve. A servo motor is disposed at such a position that it can be covered with the seat cowl so as to drive the operating wires. The muffler is provided with a muffler protector and a cover portion that integral extends from the muffler protector with the exhaust valve being covered with the cover portion.

Abstract: A transporter for transporting a first person and one or more riders over a surface. The transporter includes a first support platform for supporting the first person, the first support platform having left and right sides and defining a fore-aft vertical plane and a lateral plane. At least one ground-contacting element is coupled to the first support platform such that the first support platform is capable of tilting in the fore-aft plane about a tilt axis. The at least one ground-contacting element is driven by a motorized drive arrangement so as to cause locomotion of the transporter. A controller commands the motorized drive arrangement. The controller is configured so that at least one of fore and aft sustained motion of the transporter is based at least on fore-aft tilting of the first support platform.

Abstract: A two-wheeled inverted robot of the present invention includes a body, two wheels coaxially arranged on the body, a drive device for driving each of the wheels, first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body, second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel, body constraint recognizing means for detecting whether or not body rotation is constrained, and control means for determining a command value to the drive device. Based on the detection result by the body constraint recognizing means, the control means determines the command value for changing a ratio of a torque contributing to the body rotation.

Abstract: A two-wheel vehicle having a roll axis rotation flexibility in which a servo motor is mounted to each of two wheels operating independently of each other fails to perform stable straight-forward traveling on a laterally inclined road because a neutral position by a spring force of a handle or a step varies with respect to a vertical axis as a vehicle body tilts in a roll axis direction due to a road slope. Further, in such a device, the handle or the step can tilt against intention due to a left and right unbalanced load of a passenger onto the step when getting on or off the vehicle. There is thus provided a control device that enables stable straight-forward traveling while maintaining a standing posture of a person vertically on a laterally inclined road through a motor control of the position of a handle or a step. There is also provided a control device that enables a rotation while a person maintains a vertical posture when a performing rotation operation on an inclined road.

Abstract: A traveling apparatus suitable for use in a two-wheeled traveling vehicle on which a man rides, and a method for controlling thereof, are provided. An abrupt turn, which can make a rider fall down, is prevented, and stable traveling is obtained without fail. Specifically, the apparatus and method efficiently charge regenerative energy that is generated when decelerating or traveling on a downward slope. The apparatus and method include motors for driving a plurality of wheels independently, a chassis for connecting the plurality of wheels, in which sensors for detecting a shift of barycenter of a rider are provided, and a controller for restricting a rotational velocity of each of the plurality of wheels to a predetermined limited value, wherein turning is performed in accordance with the shift of a barycentric position.

Abstract: An air cleaner is prevented from sucking mud etc., while a relatively large space is ensured in front of a seat, in an under bone type straddle type vehicle which has an area recessed downward in front of the seat. An air cleaner is disposed in the rear of a cylinder block of an engine. The air cleaner includes a cleaner case that is taller than it is broad and a lid that covers a top of the cleaner case. An intake pipe is positioned at a rear side of the lid. The intake pipe is disposed within a space surrounded by the seat and a forward descending portion of a seat front cover, and opens obliquely upward rearward. A labyrinth structure is formed above the intake pipe for preventing drops of water from entering the intake pipe from the seat.

Abstract: A center of gravity (C/G) control system for a vehicle includes sensors to measure the center of gravity shift and mass shift of the human body in relation to the vehicle, a controller to determine outputs, a dynamically adjustable vehicle system, and a power supply. The sensor measures the direction and rate of shift of the center of gravity and mass shift of the human and creates a representative input signal. The controller determines the appropriate outputs in response to the relative center of gravity shift data received. The dynamically adjustable vehicle system receives the controller output and performs the expected action.

Abstract: A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

Abstract: An all-surface vehicle comprising a pair of large inflatable tubes mounted on a common axis with sufficient buoyancy to enable the vehicle to travel on water and having a motor for independently driving each of the tubes, together with a passenger or load carrying compartment; the motor and compartment being mounted with their center of gravity below the axis of the tubes.

Abstract: A traveling apparatus and a method for controlling thereof performs efficient charging with regenerative electrical power. An angle ?0 of a table (not illustrated) is detected by a gyroscopic sensor and an acceleration sensor to be supplied to a central control unit. Then, positional command signals Pref1(t) and Pref2(t) formed are supplied to motor control units which perform control of driving left and right motors respectively. Further, rotational positions ?m1 and ?m2 of the motors are respectively detected in rotary encoders, those det signals are fed back to the motor control units, and control is performed so as to comply with the positional command signals Pref1(t) and Pref2(t) formed in the central control unit.

Abstract: A motorcycle is described which has a frame and a rear wheel attached to a driven pulley. A drive pulley is rotatably mounted to a rigid bracket attached to the frame such that a relative orientation between the drive pulley and the driven pulley is maintained substantially constant. A drive belt is coupled to the drive pulley and the driven pulley such that a rotation of the drive pulley imparts a rotation of the driven pulley. A transmission output gear is attached to an output of a transmission, and a drive coupler is provided as an interface between the transmission output gear and the drive pulley.

Abstract: A wireless remote controlled rover (100) having a circular outer boundary when viewed in profile, comprising an elongated round-profile frame (20) outfitted with a pair of omnidirectional wheels (101L,R), rotatable in opposite directions by a drive system (50), for steering. Each of omnidirectional wheels (101L,R) comprises a set of secondary wheels (150L,R) akin to large diameter hollow flexible shafts arcuately bent and distributed in a polar array about corresponding hubs (82L,R). The secondary wheels (150L,R) are rotatable by the drive system (50) for longitudinal thrust of rover (100). A user controls the steering and thrust actions via remote control (166) for navigation and to compensate for incidental inertial rolling/careening effects of the two-wheel round-profile rover (100) while in motion. An onboard intelligent electronic processing unit (33) uses sensory feedback for autopilot, or assistive navigation, during certain scenarios such as performing user-requested optimum stopping maneuvers.

Abstract: A two-wheel electric vehicle with ringlike, large, powered parallel wheels, in which at least one ringlike wheel is driven by a large toroidal electric motor. The fully circular rotor of the large toroidal electric motor is integrated with the hub of the ringlike wheel, while the circular or semi-circular toroidal stator is joined to the body of the two-wheel electric vehicle, the ringlike wheel and the toroidal electric motor having a common bearing. The electric power source to drive the toroidal electric motor is located near the ground-facing portion of the vehicle body. An opening is formed in the internal circular area of the toroidal stator, to allow the entry and exit of the passengers of the vehicle. A similar small vehicle with parallel, coaxial wheels allows the occupant of the small vehicle to travel, seated either facing the conventional front or the rear of the small vehicle.