Abstract: Apparatus and methods for transporter shaft coupling and decoupling to assure alignment of a user interface with a control shaft through matching asymmetric cylindrical surfaces and alignment of an upper shaft segment and a lower shaft segment with ribs meshing with grooves on rings attached to the upper shaft. A tone confirms proper connection. Alignment apparatus is protected from damage associated with torques applied to the control shaft by tab features designed to first give way before other damage is incurred and from moisture by apparatus that seals the connection between upper and lower shaft segments. The user is protected from sudden loss of control by requiring the user interface to execute a sequence of linear and rotational manipulations during assembly of the shaft.

Abstract: Apparatus and methods for transporter shaft coupling and decoupling to assure alignment of a user interface with a control shaft through matching asymmetric cylindrical surfaces and alignment of an upper shaft segment and a lower shaft segment with ribs meshing with grooves on rings attached to the upper shaft. A tone confirms proper connection. Alignment apparatus is protected from damage associated with torques applied to the control shaft by tab features designed to first give way before other damage is incurred and from moisture by apparatus that seals the connection between upper and lower shaft segments. The user is protected from sudden loss of control by requiring the user interface to execute a sequence of linear and rotational manipulations during assembly of the shaft.

Abstract: A device and method for providing yaw control for a balancing transporter that has two laterally disposed ground-contacting wheels. The method has the steps of receiving a user input of a desired yaw value; comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value; processing the yaw error value to obtain a yaw command signal; and applying the yaw command signal in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of executing yaw control. The yaw command signal may include component terms quadratic in the pitch error and/or a function of a common wheel rotational velocity. A control input mechanism is wirelessly coupled to the controller of the balancing transporter so as to maintain the sealed integrity of a user interface.