Abstract: A motorized wheelchair includes left and right drive wheels, left and right motors, rate-of-turn sensor, first and second speed sensors, and controller arranged to combine signals from the sensors in a manner that detects drift. Alternatively, the motorized wheelchair includes left and right drive wheels, left and right motors, first and second rate-of-turn sensors, and controller arranged to combine signals from the sensors in a manner that compensates for voltage offset errors. In another arrangement, the motorized wheelchair includes left and right drive wheels, left and right motors, first and second rate-of-turn sensors, input device, and controller arranged to combine signals from the sensors and input device in a manner that controls the motors using an integrated turn rate error. Several methods for controlling each wheelchair configuration are also provided. These methods process signals associated with desired, expected, or actual turn rate to determine if the wheelchair is off course.

Abstract: A high efficiency vehicle propulsion system to propel a vehicle using a hydraulic motor pump functioning as motor connected to the vehicle wheels. Vehicle braking and deceleration energy is recaptured using the same hydraulic motor pump functioning as a pump and stored in an inertia wheel configured as a gyroscope. Energy is stored in and retrieved from the inertia wheel by the use of a hydraulic motor pump functioning as a motor to store energy in the inertia wheel of the gyroscope or as a pump or to retrieve energy from the inertial wheel of the gyroscope. Energy to serve the system is derived from the use of a small engine running infrequently and intermittently. Additional energy is retrieved by the use of an active shock absorption system. Energy management and vehicle propulsion are controlled by a central computer processing signals derived from action of an on-board operator, an on-board program of from a remote source.

Abstract: There is provided a motorized cycle comprising a frame, a seat, handle bars and a plurality of suspensions mounted to the frame, a plurality of wheels each coupled to one of the plurality of suspensions, one or more motors connected to the wheels causing the wheels to rotate and a control mechanism to independently control the one or more motors in response to a side-to-side and a front-to-back tilt of the motorized cycle. There is also provided a control system for operating a motorized cycle comprising a control board including software, a plurality of sensors providing inputs to the control board, a plurality of motors receiving instruction from the control board wherein the software maintains the center of gravity of the cycle in both a side-to-side and front-to-back direction by instructing the motors to accelerate or decelerate.

Abstract: A selectively powered ambulatory stretcher chair has a bifurcated articulating base of free-wheeling casters at each of the corners thereof, with motor driven wheels on a transaxle interposed therebetween. Articulation of the bifurcated base causes deployment and retraction of the drive wheels to allow use of the stretcher chair in both a manual and power-driven mode, while ensuring stability in both. A u-shaped positionable bar is pivotally connected to a back of the stretcher chair and maintains a control box within a tight range of positions as the chair of the stretcher chair assembly translates between upright and horizontal positions. The back of the stretcher chair is of a radiolucent material, accommodating medical procedures in the stretcher chair in a broad range of positions.

Abstract: A wheelchair includes a frame, a chair, a pair of drive wheels, a pair of rear wheels, and a pair of front wheels. Each front wheel is part of a front arm assembly that is rigidly coupled to a drive via a mounting plate. The mounting plate is connected to the wheelchair frame by a pivot. The drives are transversely mounted. The batteries are disposed rearward of the drives. The wheelchair seat can be moved forward to provide access to the batteries without fully removing the wheelchair from the frame.

Abstract: A width variable structure of a moving and transport means using mecanum wheels is provided, which includes a plurality of mecanum wheels, a plurality of links connecting the mecanum wheels, and motors mounted on the mecanum wheels to transfer driving forces to the links, respectively. Since the width of the moving and transport means in the horizontal and vertical directions can be adjusted using the driving forces of the mecanum wheels, components such as actuators are omitted from the present invention in the overall assembly.

Abstract: A wheel loader includes: a front and rear frame connected at a connection section; front and rear wheel electric motors that drive front and rear wheels; a unit that rotates the front and rear frame in opposite directions about the connection section while steering actuation, by driving the motors so that a magnitude between speeds of the front and rear wheel electric motors on an inner wheel side and between speeds of those on an outer wheel side are opposite, and a speed difference corresponds to a steering angle; and a unit that, when the steering actuation is terminated, drives the motors so that an inner-outer wheels speed difference corresponding to the steering angle is applied to the speed difference of the front wheel electric motors on outer and inner wheel side, and to the speed difference of the rear wheel electric motors on outer and inner wheel side.

Abstract: A wheelchair includes a frame, a chair, a pair of drive wheels, a pair of rear wheels, and a pair of front wheels. Each front wheel is part of a front arm assembly that is rigidly coupled to a drive via a mounting plate. The mounting plate is connected to the wheelchair frame by a pivot. The drives are transversely mounted. The batteries are disposed rearward of the drives. The wheelchair seat can be moved forward to provide access to the batteries without fully removing the wheelchair from the frame.

Abstract: Systems for towing a trailer by a towing vehicle and a method for controlling such a system are disclosed. The systems and method are configured to maintain a constant towing load on the towing vehicle as well as optimizing other performance criteria such as fuel efficiency. The system comprises a closed loop controller, a towing arm assembly, a load measuring device, an electric hub motor, brakes, a motor controller and a brake controller disposed on the trailer. In another embodiment, two separate systems are installed, one on each side of the trailer. A load force feeds into a PID controller programmed with preset proportional, differential and integral parameters. The PID controller generates a command signal to either modulate the brakes or motor up or down depending on the sign of the command signal. A process output updates the system which continuously adjusts based on driving conditions.

Abstract: A lawnmower vehicle which is a working vehicle with an electromagnetic brake includes left and right electromagnetic brakes, a brake relay which is a common brake releasing unit, and an ECU. The ECU compares electricity supply states of the left and right electromagnetic brakes, and controls the brake relay to disconnect an electrical connection between a battery and the left and right electromagnetic brakes, and to brake left and right wheels when a difference in the electricity supply states compared by a comparator exceeds an allowable upper limit.

Abstract: A method of operating a portable, foldable, and multifunctional mobility aid apparatus that assists a user in standing, sitting, and/or walking process. The apparatus has an integrated power source and is based on 4 wheels. Users can stand on it and drive it as an electric mobility device, or disable it and use it as a passive walker. The apparatus has a pair of supporting beams with adjustable width to be placed under the user armpits and support the user in standing up, sitting down, and/or moving around. The apparatus can be controlled by a control panel mounted on a pair of handles, and its functions can be controlled by the user with no need for help from another person. The apparatus can be minimized by a combination of multiple telescopic vertical minimization mechanisms and multiple folding mechanisms.

Abstract: A method and apparatus for wheelchair control. The position and distance of a touch point on a touch pad is used to set speed and wheel differential control. The two major wheels of the wheelchair are controlled according to these set quantities. Exceeding either of two horizontal accelerations measured by an accelerometer limits the set speed. Wheelchair control is shut down upon exceeding a vertical acceleration limit.

Abstract: A frame for an electric vehicle with a motor and a transmission, the frame including a steering head unit, a power unit casing, a left side frame and a right side frame. The steering head unit includes a steering head, a left extension and a right extension, wherein the left extension and right extension extend at an angle from the steering head. The power unit casing encloses the motor and the transmission, orienting the gearbox of the transmission vertically underneath the motor. The left and right side frames mount, on one end, to the left and right extensions of the steering head unit, respectively, wherein the other end mounts to the left and right sides of the power unit casing, respectively. The steering head unit, the power unit, the left side frame and the right side frame form an open cage, configured to accept a battery assembly.

Abstract: A motorized wheelchair includes left and right drive wheels, left and right motors, rate-of-turn sensor, first and second speed sensors, and controller arranged to combine signals from the sensors in a manner that detects drift. Alternatively, the motorized wheelchair includes left and right drive wheels, left and right motors, first and second rate-of-turn sensors, and controller arranged to combine signals from the sensors in a manner that compensates for voltage offset errors. In another arrangement, the motorized wheelchair includes left and right drive wheels, left and right motors, first and second rate-of-turn sensors, input device, and controller arranged to combine signals from the sensors and input device in a manner that controls the motors using an integrated turn rate error. Several methods for controlling each wheelchair configuration are also provided. These methods process signals associated with desired, expected, or actual turn rate to determine if the wheelchair is off course.

Abstract: A detachable power drive unit for propelling and steering a manual wheelchair is provided which comprises a frame, two independently controlled drive wheels, a power source, a hitching unit for coupling the device to the wheelchair, a force transfer apparatus, a user interface and a controller. The frame, motors, batteries and wheels have a low profile, which allows them to fit in the space underneath a standard manual wheelchair. The hitching unit couples the device to the wheelchair, yet allowing a fair degree of rotational motion to occur which minimizes the possibility of a wheel losing contact with the ground. The force transfer apparatus is a spring loaded arm that gets compressed by the wheelchair chassis during docking, thus transferring a significant portion of the wheelchair and occupant weights onto the drive wheels and ensuring adequate ground contact force and, as a consequence, drive traction.

Abstract: A wheelchair includes a frame, and a front pivot arm pivotally mounted to the frame at a front pivot point, the front pivot arm having a caster for supporting the frame. A rear pivot arm is pivotally mounted to the frame at a rear pivot point, the rear pivot arm having a caster for supporting the frame. A ground engaging mid-wheel drive wheel is connected to the frame. A linkage connects the front and rear pivot arms to each other in a manner such that an upward or downward rotation of one of the pivot arms about its pivot point causes rotation of the other pivot arm about its pivot point in an opposite rotational direction.

Abstract: A wheelchair includes a frame, a chair, a pair of drive wheels, a pair of rear wheels, and a pair of front wheels. Each front wheel is part of a front arm assembly that is rigidly coupled to a drive via a mounting plate. The mounting plate is connected to the wheelchair frame by a pivot. The drives are transversely mounted. The batteries are disposed rearward of the drives. The wheelchair seat can be moved forward to provide access to the batteries without fully removing the wheelchair from the frame.

Abstract: Enabled is to lighten the load on a rider and to make the rider senses a turning state at the turning time of a transverse two-wheeled vehicle. A transverse acceleration (a) at a turn controlling time is detected to make a next inclination control in accordance with the magnitude of the acceleration. (a) In the case of an acceleration (a)?a predetermined threshold (a0), the vehicle is left uninclined to prevent the vehicle body from being unnecessarily inclined and rocked against a small centrifugal force, thereby to improve the riding comfortableness. (b) In the case of the acceleration (a)>the threshold (a0), a riding portion is inclined such that the inclination angle ?1 may become the larger as the acceleration (a) becomes the higher. This can reduce the load on the rider against the centrifugal force.

Abstract: To provide a vehicle capable of performing a transition between a stable state and an inverted state with a simple structure. A vehicle in accordance with an aspect of the present invention is a vehicle that moves by inverted pendulum control, including a rider seat, a chassis, a right driving wheel, a left driving wheel, motors to rotationally drive the right driving wheel and the left driving wheel, a forward bar protruding forward beyond the chassis, a motor to rotational drive the forward bar, a footstep attached to the forward bar, and a control box to control the motor. The feet of a rider 80 are put on the footstep. The control box changes the vehicle to an inverted state by raising the footstep so that the footstep moves away from a ground, or changes the vehicle to a stable state by lowering the footstep so that the footstep comes into contact with the ground.

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.

Abstract: An apparatus and method for transporting a payload over a surface is provided. A vehicle supports a payload with a support partially enclosed by an enclosure. Two laterally disposed ground-contacting elements are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle.

Abstract: A dolly includes a frame having a load deck for supporting a load and a plurality of axles coupled to the frame in a generally parallel relationship with wheels rotationally coupled to each side of the axles. Independent drive motors are operatively connected to each of the wheels such that the wheels can be driven completely independently from each other. This independent rotation enables the dolly to rotate in place about a vertical axis as well as minimize a turning radius of the dolly in a skid steer operation.

Abstract: An electronic steering assembly is disclosed for a dual motor vehicle having a first and a second motor for driving a first and a second drive wheel. The electronic steering assembly comprises a handlebar rotatably mounted relative to a base. A sensor senses the rotational position of the handlebar relative to the base. A control is interposed between the sensor and the first and second motors for powering the first and second motors in accordance with the rotational position of the handlebars for steering the dual motor vehicle through the rotational movement of the handlebar.

Abstract: An improved lifting and transportation device including an attachment means adapted to engage a wheeled device to be transported; and one or more driving wheels adapted to engage the ground to propel said lifting and a transportation device, whereby, said lifting and transportation device is steerable by the independent engagement of said driving wheels; and a controller adapted to control the motion of said driving wheels and control the operation of said attachment means.

Abstract: A wheel arrangement for a four-wheeled vehicle is comprised of a front wheel, two side wheels and a rear wheel, whereas the rear wheel is connected to the frame of the vehicle by a supporting base enabling the same to be steered freely while having a ground-touching point of the same to be biased from the axis of the supporting base by a distance, and the front wheel can be specified as a driving wheel, a free-rolling steering wheel or just a steering wheel with respect to actual requirement, and the two side wheels can be specified as a driving wheels or free-rolling wheels while enabling the axis of the two side wheels to be aligned to a straight line without sharing a same shaft.

Abstract: An electric powertrain includes an engine configured to provide mechanical energy and a generator operably coupled to the engine and configured to convert at least a portion of the mechanical energy into electric energy. The electric powertrain further includes at least one electric motor operably coupled to the generator, a plurality of driving members, and at least one power electronics unit configured to control at least one of the engine and the generator. The at least one electric motor is configured to provide torque for the plurality of driving members.

Abstract: Stall detection apparatus for an electric motor controller has an input for receiving a drive error flag indicating if the controller is unable to achieve the required motor velocity and an input for receiving a signal in order to measure, directly or indirectly, the actual motor velocity. The actual motor velocity is determined in order to indicate whether the motor is stationary and, only if so, a stall signal is outputted in order to indicate that said motor has stalled.

Abstract: An electric zero-turn working vehicle comprises a vehicle body frame, right and left drive wheels, right and left first electric motors for driving the respective right and left drive wheels, a transaxle including at least one of the right and left first electric motors, a working implement, and a second electric motor for driving the working implement. The right and left first electric motors have a space therebetween. The transaxle is supported by the vehicle body frame and is disposed below the vehicle body frame. At least a part of the second electric motor is disposed in the space between the right and left first electric motors.

Abstract: A bumper car for driving on a floor of a game arena including a chassis, first and second casters mounted to the chassis, first and second drive wheels mounted to the chassis, wherein the first caster is spring-loaded and the second caster is fixed, and a footwell for receiving feet of a driver of the bumper car, wherein a first distance is defined between a bottom surface of the footwell and the floor, wherein a second distance is defined between a mounting plate of the first caster, and wherein the first distance is less than the second distance.

Abstract: A wheel driven utility vehicle includes a frame and two small volume high speed alternating current electric motors arranged side by side for driving the vehicle. Alternatively high speed direct current, hydraulic or pneumatic direct current motors may be used with suitable controls. Each motor has an output shaft which drives an offset planetary gear reducer. Each offset planetary gear reducer is affixed to the electric motor and includes an output carrier interconnected with an output shaft. Each output shaft includes first and second chain drive sprockets which drive chains interconnected with shafts driving the front and rear wheels respectively. Each offset planetary gear reducer enables use of space saving high speed relatively low-torque alternating current electric motors with attendant large speed reductions. Gear reduction enables the production of sufficient torque at the wheels of the vehicle. Applications in addition to utility vehicles are also specifically contemplated.

Abstract: The technology disclosed relates to a controller and a control method for a motorised vehicle, and in particular to the control of a motorised vehicle having at least a left wheel and a right wheel, the left wheel being driven by a left motor and the right wheel being driven by a right motor. In accordance with such motorised vehicles, linear motion of the vehicle is typically effected by driving the left motor and the right motor in the same direction, whilst spinning of the vehicle is typically effected by driving the left motor and the right motor in opposite directions. A typical example of such a motorised vehicle is an electric wheelchair.

Abstract: To provide an inverted wheel type moving body capable of improving the operability, and a method of controlling the same. An inverted wheel type moving body in accordance with one aspect of the present invention includes motors 34 and 36 for rotationally driving a right driving wheel 18 and a left driving wheel 20 respectively, a passenger seat 74 rotationally supported on mounts 26 and 28 through swing arms 17 and 19, a passenger seat drive motor 70 for driving the passenger seat 74, a control portion 80 for determining whether the manipulation amount exceeds the threshold value or not, and a motor driver 70a for control the passenger seat drive motor 70 such that the passenger seat 74 is moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seat 74 is restored after the manipulation amount exceeds the threshold value.

Abstract: A travel device includes a plurality of wheels disposed parallel to one another, a step plate mounted between the wheels, a handle mounted to the step plate, and a driving motor that allows the step plate and handle to tilt in a roll axis direction. The device further includes a control unit that drives the motor so as to maintain the step plate horizontal or the handle vertical. The device also includes a measurement unit that measures a shift operation of the step plate or the handle. The plurality of wheels may change direction based on the value determined by the measuring unit.

Abstract: There is provided an electric ground working vehicle including a left wheel and a right wheel, at least one caster, a working apparatus, an acceleration operating element for performing acceleration instructions, a turn operating element for performing turn instructions, and a control unit. The left wheel and the right wheel are independently driven by left and right electric motors respectively. The control unit controls a regenerative brake driving unit so that electric power is regenerated from the left and right electric motors to an electric power source unit when the acceleration operating element is not operated during traveling to regeneratively brake the left and right wheels.

Abstract: A direction and speed control device for an electronic wheelchair includes: a base member mounted on the electronic wheelchair; a manually operable pointing unit mounted on the base member and including a control stick pivotable relative to the base member; first and second three-axis g acceleration sensors, each generating a voltage output indicative of tilt of a respective one of the control stick and the base member in three orthogonal axes; and a control unit operable so as to process the voltage outputs of the first and second three-axis g acceleration sensors to generate corresponding control signals for controlling rotation direction and speed of a wheel unit of the electronic wheelchair.

Abstract: A coaxial two-wheel vehicle on 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 so as 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: A steering system for tracked vehicles having two brake circuits which is activated after a failure of the primary steering mechanism. The steering system includes a steering switch (L) that can be controlled by a steering axle which, in the event of primary steering system failure, acts upon the brakes of the vehicle in such a manner that rotation of the steering axle results in a braking action upon a track on the inside of a curve.

Abstract: A wheel driven utility vehicle includes a frame and two small volume high speed alternating current electric motors arranged side by side for driving the vehicle. Alternatively high speed direct current, hydraulic or pneumatic direct current motors may be used with suitable controls. Each motor has an output shaft which drives an offset planetary gear reducer. Each offset planetary gear reducer is affixed to the electric motor and includes an output carrier interconnected with an output shaft. Each output shaft includes first and second chain drive sprockets which drive chains interconnected with shafts driving the front and rear wheels respectively. Each offset planetary gear reducer enables use of space saving high speed relatively low-torque alternating current electric motors with attendant large speed reductions. Gear reduction enables the production of sufficient torque at the wheels of the vehicle. Applications in addition to utility vehicles are also specifically contemplated.

Abstract: A riding-type ground working vehicle includes left and right wheels, a command value calculating section, a yaw rate detecting section that detects a yaw rate of the vehicle, a target yaw rate calculating section, a correction coefficient acquiring section, and a control section. The left and right wheels are independently driven to travel by two respective traction motors. The command value calculating section calculates target rotational speed command values for the two traction motors based on an acceleration instruction and a turn instruction input by a driver. The target yaw rate calculating section calculates a target yaw rate based on the acceleration instruction and the turn instruction. The correction coefficient acquiring section acquires two correction coefficients respectively relating to the two traction motors based on a deviation between the target yaw rate and a yaw rate detection value.

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.

Abstract: Steering mechanism for orienting the steered wheels (1a-d) of a short vehicle with respect to the chassis, comprising one first vertical axis (2) per steered wheel, allowing each steered wheel (1a-d) to pivot with respect to said chassis and a first link (5a-d) allowing a torque to be applied to each steered wheel to make it pivot around said first vertical axis. The inner end of the link is able to slide along a straight rail (11a-d) which in turn is rotatably mounted with respect to the chassis 60. A second link (6a-d) not parallel to the wheels forces the first link (5a-d) to slide in a defined manner along a rail (11a-d). This makes possible the differentiated orientation of the left and right wheels. Advantage: very small turning radius. Particularly applicable to electric chairs for the disabled.

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.

Abstract: A remotely controlled vehicle with a track mechanism and independently operated wheels is described. The vehicle includes a track assembly that includes a center track drive wheel and corresponding endless center track. A pair of driving wheels are mounted on opposing lateral sides of the track assembly. Two independently operated motors are included, each supplying power to only one of the driving wheels. A differential gear set is operatively connected between each of the two motors and the center track drive wheel. The gear set is formed to drive the center track drive wheel in a vehicle driving direction when both motors are concurrently operated to drive the pair of driving wheels in the vehicle driving direction. The gear set also imparts a minimal force to the center track drive wheel when each of the motors are operating to drive the pair of driving wheels in opposing directions.

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: A method and controller for controlling electric vehicles wherein an output level to an output device is determined on the basis of timing information of input timing data. In one embodiment the timing data is provided on the basis of the duration of one or more user input device, such as one or more buttons. Different algorithms may be applied depending upon the duration of activation of the input device. An electric vehicle including the controller is also disclosed.

Abstract: A driving force control device for an electric vehicle in which a left wheel is driven by a left in-wheel motor and a right wheel is driven by a right in-wheel motor includes a driving force difference setting section. The driving force difference setting section is configured to set a driving force difference between a driving force outputted from the left in-wheel motor and a driving force outputted from the right in-wheel motor when a lateral acceleration is detected acting on the vehicle, the driving force difference being set to generate a restoring moment against the vehicle corresponding to the lateral acceleration.

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: A golf bag vehicle includes a vehicle body and a driving wheel. The vehicle body includes an axle mounting on a lower portion thereof. The driving wheel includes a wheel frame, a motor and a wheel circle. The wheel frame detachably connects to the axle, and has an inner room. The motor mounts inside the inner room, for electrically connecting with a power supply. The wheel circle receives the wheel frame therein, and is rotatable with respect to the wheel frame. The wheel circle connects with the motor, and is driven by the motor, so that the driving wheel forms a self-driven structure.

Abstract: Systems, methods and apparatus are provided through which in some embodiments, a mobile imaging device includes one or more motors to propel the mobile imaging device.

Abstract: An electrically driven wheel for a tracked vehicle which includes a driving track wheel with built in cogs and a brushless DC motor having a mounting shaft to connect the wheels to the tracked vehicle. The brushless DC motor is coupled within the driving track wheel to develop rotational torque for rotating the driving track wheel and includes a drum, a bank of pole assemblies connected between the drum and the stationary mounting shaft, and electrical wiring for energizing the bank of pole assemblies. In an embodiment, the brushless DC motor includes permanent magnet high multiple pole motors. The electrically driven wheels are part of a drive system for the tracked vehicle. The drive system includes a track module frame, at least two flexible tracks coupled with the electrically driven track wheels, and a controller for controlling the electrically driven track wheels in response to a driver command.