Abstract: Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.

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. 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 of the loaded support platform. Based at least on the load distribution, a controller commands the motorized drive arrangement.

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. 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 of the loaded support platform. Based at least on the load distribution, a controller commands the motorized drive arrangement.

Abstract: Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.

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: A device for filtering a carrier frequency of a PWM waveform. The device includes a low-pass filter for converting the PWM waveform into an analog signal. The device further includes a sampling analog-to-digital converter receiving the analog signal from the low-pass filter and the device also includes a controller for causing the non-integrating analog to digital converter to sample the PWM waveform at the pulse frequency rate thereby rejecting the carrier frequency. As already stated the PWM waveform includes a pulse which has a leading edge, a top portion, and a trailing edge. In one embodiment, the controller causes the A/D converter to sample during the top of the pulse. Preferably, the controller causes the A/D converter to sample at substantially the center of the pulse.

Abstract: Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.

Abstract: Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.

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 local distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.

Abstract: An audio alarm for a transporter having an electric motor. The alarm has a signal generator for generating a signal within the audible frequency range and a modulator for modulating a current that is applied to the electric motor in accordance with the signal generated by the signal generator.

Abstract: An audio alarm for a transporter having an electric motor. The alarm has a signal generator for generating a signal within the audible frequency range and a modulator for modulating a current that is applied to the electric motor in accordance with the signal generated by the signal generator.

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 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 user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.

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 electric device includes a motor and a motor drive for commanding a torque generated by the motor. A fault control circuit detects a fault condition associated with the motor drive. Upon detection of the fault condition, the fault control circuit adjusts the torque commanded by the motor drive.

Abstract: A method for detecting an open winding in a motor. The method employs passive monitoring of the voltage, current and speed of the motor. A residue voltage is calculated that equals the difference between an idealized set of voltage drops across the motor load elements and the actual voltage drops. When the magnitude of the residue voltage equals or exceeds a threshold, an open winding condition may be declared and appropriate action may be taken.

Abstract: A method for attaching a carrier, such as a trailer, to a dynamically balanced transporter. The carrier is attached to the transporter with a pivot. The pivot axis of the carrier is coincident with the axis of rotation of the wheels of the transporter. This method of attachment minimizes the impact of the trailer on the ability of the transporter to maintain dynamic balance and control.

Abstract: A system and method for generating commands for current subject to dynamic determinations of a limit. In one embodiment, the dynamically determined limit is a function of power dissipation in a component estimated from a measured current level and as a function of a measured temperature proximate to the component. In another embodiment, the limit is a lesser of two dynamically determined current levels. The system and method may be of particular use in a motor having limits determined with respect to a transistor and a motor winding. More particularly, estimated temperatures are established for a transistor and a motor winding for use in dynamically determining limits. Dynamic current limiting may be applied to a left and right wheeled vehicle such that the limit applied to both wheels is the lower of the limits dynamically determined for each wheel.

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.