Abstract: An autonomous electronic bicycle comprises a frame, a wheel that can be powered by a first electronic motor, and a pedal assembly connected to a pedal motor. The pedal assembly is not mechanically connected to the wheel, but the autonomous electronic bicycle simulates a mechanical connection by powering the rear wheel proportional to the user's pedaling force. The autonomous electronic bicycle uses a virtual gear ratio based on the cadence of the rider, the current incline of the bicycle, and the current speed of the bicycle. The virtual gear ratio can be a ratio between a torque of the set of pedals and a torque of the wheel.

Abstract: An autonomous electronic bicycle comprises a frame, a front wheel that can be powered by a first electronic motor, a rear wheel that can be powered by a second electronic motor, and handlebars that can steer the front wheel which can be controlled by a third electronic motor. Similarly, the autonomous electronic bicycle can comprise a set of sensors used for balance. The autonomous electronic bicycle can use the balance sensors to determine a current state of the autonomous electronic bicycle and drive the electronic motors to balance the autonomous electronic bicycle and achieve a target pose of the autonomous electronic bicycle. A neural network can be trained to determine one or more motor outputs of the autonomous electronic bicycle based on the target pose and the current state.

Abstract: An autonomous electronic bicycle comprises a frame, a front wheel that can be powered by a first electronic motor, a rear wheel that can be powered by a second electronic motor, and handlebars that can steer the front wheel which can be controlled by a third electronic motor. The autonomous electronic bicycle can operate autonomously, traveling to a chosen destination. When operating autonomously the autonomous electronic bicycle can shift between a set of balance modes, including a mode used when moving and a mode used when stationary but balanced. To transition between modes, a transition sequence of control commands can be selected and used.

Abstract: An autonomous electronic bicycle comprises a frame, a wheel that can be powered by a first electronic motor, and a pedal assembly connected to a pedal motor. The pedal assembly is not mechanically connected to the wheel, but the autonomous electronic bicycle simulates a mechanical connection by powering the rear wheel proportional to the user's pedaling force. The autonomous electronic bicycle uses a virtual gear ratio based on the cadence of the rider, the current incline of the bicycle, and the current speed of the bicycle. The virtual gear ratio can be a ratio between a torque of the set of pedals and a torque of the wheel.

Abstract: An autonomous electronic bicycle comprises a frame, a wheel that can be powered by a first electronic motor, and a pedal assembly connected to a pedal motor. The pedal assembly is not mechanically connected to the wheel, but the autonomous electronic bicycle simulates a mechanical connection by powering the rear wheel proportional to the user's pedaling force. The autonomous electronic bicycle uses a virtual gear ratio based on the cadence of the rider, the current incline of the bicycle, and the current speed of the bicycle. The virtual gear ratio can be a ratio between a torque of the set of pedals and a torque of the wheel.