Abstract: Various methods, apparatuses, and systems in which a single-track vehicle has a retractable auxiliary-support wheel assembly and a computer control system. In an embodiment, the single-track vehicle has an elongated body. The retractable auxiliary-support wheel assembly mounts on both sides of the elongated body. The computer control system analyzes signals from one or more sensors to dynamically balance the single-track vehicle.

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 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: There is provided a lubricating device for a motorcycle combustion engine, which allows the motorcycle to exhibit a desired banking angle and also to have a lower center of gravity. The lubricating device is designed to supply a lubricant oil to an in-line multicylinder combustion engine (E) mounted on a motorcycle frame structure (FR) and having a crankcase (CR) and includes a main gallery (21) formed in a lower portion of the crankcase (CR) and journal oiling passages (25) branched off from the main gallery (21) for supplying the lubricant oil towards crank journals (23b) of a crankshaft (23) of the engine. The main gallery (21) has opposite end portions (21a, 21a) inclined to extend outwardly upwardly.

Abstract: A personal transporter device and corresponding method of operation are given that utilize an exercise mode. A transporter assembly includes a platform, a ground-contacting module, and a motorized drive. The platform supports a user. The ground-contacting module is connected to the platform. The motorized drive powers the ground-contacting module to drive the assembly in a selected direction over an underlying surface. A controller is coupled to and controlling the motorized drive, and also has an exercise mode for opposing a user-provided human power input with a selected level of resistance. When the device is a dynamically stabilized transporter, the controller also controls the motorized drive so as to dynamically stabilize the transporter assembly.

Abstract: A device and method for operating a vehicle having an operating member that is displaceable with respect to a vehicle body and operated by a driver, controls an acceleration of the vehicle according to a displacement position of the operating member, displaces the operating member to a predetermined initial position when electric power starts to be supplied, and prohibits acceleration of the vehicle according to a displacement position of the operating member when the operating member is being displaced to the initial position until the operating member reaches a position which does not instruct the vehicle to accelerate. With this type of device for operating a vehicle, it is possible to prevent the vehicle from moving against the wishes of the driver at the start of operation.

Abstract: A device and method for equalizing the charge among a plurality of batteries redundantly driving a motor. The batteries are coupled to the motor through isolated windings and to each other through the drive shaft. The device senses the charge of the batteries and then controls the current from each of the batteries to its respective winding to equalize the charge. Related methods are provided to maximize the speed limit of a balancing transporter.

Abstract: A powered wheel assembly, and method and ground-engaging vehicle (e.g., a robotic vehicle) using the same, are provided. The vehicle incorporates at least one of the wheel assemblies on its chassis body. In addition to its ability to propel the vehicle across a surface, the wheel assembly is reconfigurable between a retracted configuration, wherein the wheel assembly has a first rolling diameter, and an expanded configuration, wherein the wheel assembly has a second rolling diameter greater than the first rolling diameter. A drive motor assembly may both rotate the wheel assembly, e.g., propel the vehicle across a surface, and selectively actuate the wheel assembly from the first rolling diameter to the second rolling diameter, or to any intermediate rolling diameter.

Abstract: A balancing toy having a chassis and a pair of laterally disposed wheels coupled to the chassis for motor-driven rotation with respect to the chassis. A circuit governs wheel rotation to maintain balance of the toy on the basis of chassis tilt as measured by a sensor. The sensor may include a gyroscope, and the balancing toy may have a single motor driving both wheels, or separate motors driving each wheel.

Abstract: A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Methods of controlling the transporter are described that allow the dynamic behavior of the transporter to more closely match preferences of a rider. These methods include providing preferential responsiveness to change in pitch angles and pitch rates.

Abstract: A method and apparatus that afford a user accelerated access to operation of a balancing personal transporter. The method includes first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter. Apparatus includes single axis and 3-axis stabilizer and means to alert the user of the personal transporter.

Abstract: This electric motor vehicle is unique because it has just two wheels parallel to one another. Steering is achieved by the differential rotation of the two wheels with respect to one another—reducing the turning radius of this vehicle to the mere distance between the centres of the ground contact areas of the two tyres. Traction is by two permanent magnet AC motors—the stators on the axle circumference and the rotors on the inside of the wheel hubs. The outer circumference of the hollow axle which doubles up as the vehicle shell; is more than half of the maximum outer circumference of the tyre on the wheel. The heavy-weight electrical energy storage devices, mostly electrical accumulators, are positioned at the bottom of the hollow axle-shell. This brings down the centre of gravity well below the common geometrical centre of the two parallel wheels; providing inertial stability to the vehicle shell, when torque is applied by the wheel motor.

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.

Abstract: A method for stabilizing a balancing transporter under riderless conditions. The balancing transporter is characterized by a center of mass, and has two laterally disposed wheels and a region of contact with an underlying surface. In accordance with the method, the absence of a user aboard the transporter is first detected. Then a desired transporter pitch is determined such as to establish a condition of stasis wherein the center of mass is disposed directly above the region of contact between the balancing transporter and the underlying surface. Finally, a torque is applied to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch. The torque may include coadded terms where the terms are, respectively, proportional to a pitch error, a pitch rate, a wheel rate, and an integral representing the wheel rotation that was required to bring the transporter to the condition of stasis.

Abstract: A light portable tug including reversible wheels, a direct current motor device for driving the wheels and a drive train between such motor and wheels and including a control device for selectively rotating such wheels for controlling the direction of such Tug.

Abstract: A two wheeled automotive vehicle having a heavily weighted passenger compartment pivotally mounted on, and with its center of gravity below, a trapeze cross bar that is in turn pivotally mounted between axially aligned stub axles for the road wheels. Attitude control is provided and other function for controlling the reactive forces of braking is also disclosed.

Abstract: In a motorcycle including: a seat which can be opened upward and closed, a storage box disposed under the seat for holding helmets, the surround of the storage box being enclosed by a cover, the seat is comprised of a seat bottom plate, a seat cushion and a seat cloth. The seat bottom plate is integrally formed with a seat bottom plate extension which is extensionally formed along the outer periphery and projected downwards from the outer periphery, spreading outwardly toward its distal side. A sealing element is disposed between the storage box and the seat bottom plate extension and a cover is arranged so as to externally enclose the upper part of the storage box and the seat bottom plate extension.

Abstract: A two wheeled automotive vehicle having a heavily weighted passenger compartment pivotally mounted on, and with its centre of gravity below, a trapeze cross bar that is in turn pivotally mounted between axially aligned stub axles for the road wheels. Attitude control is provided and means to control reactive forces of braking is also disclosed.

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 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: The invention relates to a drive for a wheel set (1) of a chassis, with the wheel set having two wheels (3) positioned on a wheel set shaft (2), which can be driven by at least one internal rotor motor that encompasses the wheel set shaft (2) and has a stator (10) and a rotor (19). This configuration provides a compact direct drive.

Abstract: A head pipe that supports a handle for a scooter type vehicle is covered with a front cover. Article container boxes are disposed in an upper portion of a rear side of the front cover, and a parking lever is disposed below the article container boxes. Accordingly, an opening of each article container box can be made larger and it is possible to increase the capacity of each container box. Large article container boxes can be disposed in the front cover and in the vicinity of the handle. A parking lever can be disposed in the front cover and in the vicinity of the handle at a position permitting a vehicle rider to easily reach and operate the lever without requiring any forced motion.

Abstract: A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. This embodiment has a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered.

Abstract: A motorcycle exhaust pipe protector for use with a motorcycle having an exhaust pipe running adjacent an operator's footrest. The protector includes an elongate rod which is shaped to have a bent fore portion bent toward the motorcycle, and a bent aft portion bent away from the motorcycle in a lateral direction substantially orthogonal to the fore-and-aft direction. The bent aft portion is positioned directly behind the footrest. Further, a bracket is provided for mounting the rod to the footrest at a position between the footrest and the motorcycle, and at an elevation above the footrest.

Abstract: A system and method for automatically decelerating a personal transporter of the kind that has a controller for controlling the motion of the transporter. Upon detection of a fault condition, a goal value of a control variable is set, the control variable is adjusted at a specified increment in the direction of the goal value, and the prior steps are repeated until the control variable equals the goal value. A method is also provided that affords a user accelerated access to operation of a balancing personal transporter. The method has the steps of first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter.

Abstract: A motorcycle includes a fork, a wheel supported in the fork for rotation about an axis of rotation, a brake caliper attached to the fork, a sensor unit attached to the brake caliper for sensing rotation of the wheel, and a connection cable attached at a lower end to the sensor unit. The lower end of the connection cable is substantially perpendicular to the axis of rotation of the wheel.

Abstract: A saddlebag support assembly for use on a motorcycle includes a mounting member mounted to the motorcycle's shock bolt. A portion of the mounting member extends below a lower edge of the motorcycle's rear fender. The saddlebag support assembly also includes front and rear arms having front and rear plates. The front plate is mounted to the portion of the mounting member below the lower edge of the rear fender. An internal support member is mounted to the shock bolt and extends rearwardly thereof. The internal support member includes a depending portion defining a slot that receives the rear plate. The rear plate is fastened to the depending portion of the internal support member. The saddlebag support assembly further includes a bottom support for supporting the saddlebag from underneath, and a bracket having quick-release bosses. Quick-release fasteners are used to secure the saddlebag to the quick-release bosses from the inside of the saddlebag.

Abstract: A system (10) for balancing two-wheeled vehicles when approaching rest or when at rest is provided. The system (10) includes a spinning gyro rotor (12) which is precessed about an axis (16) upon the sensing (22) of incipient tipping of the vehicle when the vehicle is at rest or approaching rest so as to generate a force for preventing such tipping. The system may be packaged in a small module (100) that can be mounted on existing two-wheeled vehicles.

Abstract: A mounting member for mounting a luggage rack and/or a backrest to a motorcycle includes a concave recess on at least one side for snugly receiving a rounded side surface of a backrest assembly. This recess provides support to the back rest assembly such that vertical loads encountered during normal operation are carried by the snug engagement of the concave recess and the rounded side surface, reducing shear stress on fasteners used to couple the backrest to the mounting member. A portion of a motorcycle luggage rack is disposed over a rear portion of the mounting member and fasteners are extended through apertures in the luggage rack and threaded into substantially vertical threaded bores in the mounting member to affix the luggage rack to the mounting member.

Abstract: The transformable vehicle comprises a central chassis assembly having first and second distal ends with an axis passing therebetween, a first wheel assembly mounted to the first distal end, and a second wheel assembly mounted to second distal end. A multifunction transformable vehicle comprising at least two configurational states: a stowed state and a transformed state. In the stowed state, the transformable vehicle comprises a compact structure suitable for storage, transport or deployment. During transition from the stowed state to the transformed state, the first and second wheel assemblies move longitudinally outward along the axis to reveal the central chassis assembly.

Abstract: A trailer for a dynamically balanced transporter that allows leaning of the transporter such as for control of the combination of transporter and trailer. The trailer has a platform and an arm with two ends, one of which ends is coupled to the platform and the other of which is pivotally coupled about a horizontal axis to the transporter. The trailer has a ground-contacting member that may be a wheel, or a ski or a skid. A locking mechanism may lock the pivot in response to a fault condition. The platform of the trailer may support a rider in a seated or standing position and may have a characteristic transverse linear dimension comparable to the shoulder width of the rider.

Abstract: A trailer for a dynamically balanced transporter that allows leaning of the transporter such as for control of the combination of transporter and trailer. The trailer has a platform and an arm with two ends, one of which ends is coupled to the platform and the other of which is pivotally coupled about a horizontal axis to the transporter. The trailer has a ground-contacting member that may be a wheel, or a ski or a skid. A locking mechanism may lock the pivot in response to a fault condition. The platform of the trailer may support a rider in a seated or standing position and may have a characteristic transverse linear dimension comparable to the shoulder width of the rider.

Abstract: A clamping system for releasably clamping a first component, such as a golf trolley (1), to a second component, such as a power drive unit (9) comprising a clamping unit (11) adapted in use to be permanently secured to the golf trolley (1) and comprising a clamping plate (12) and a mounting plate (13), the latter having an outer face (14), and an inner, clamping face (15), the arrangement being such that an element (2) of the golf trolley (1) may be located between the clamping face (15) of the mounting plate (13) and an opposed face (16) of the clamping plate (15) and then be clamped therebetween by tightening of manually operable screw means (17); a first formation (22) provided on the outer face (14) of the mounting plate (13); a second formation (24) provided on a portion (30) of the drive unit (9), with the first and second formations (22, 24) providing for screwless, sliding interengagement therebetween, with a locking or latching means (31) manually displaceable between an operative position in which i

Abstract: A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided.

Abstract: The transformable vehicle comprises a central chassis assembly having first and second distal ends with an axis passing therebetween, a first wheel assembly mounted to the first distal end, and a second wheel assembly mounted to second distal end. A multifunction transformable vehicle comprising at least two configurational states: a stowed state and a transformed state. In the stowed state, the transformable vehicle comprises a compact structure suitable for storage, transport or deployment. During transition from the stowed state to the transformed state, the first and second wheel assemblies move longitudinally outward along the axis to reveal the central chassis assembly.

Abstract: A balancing vehicle having enhanced stability for transporting a payload. The vehicle has two substantially coaxial wheels coupled to a platform. Each wheel rotates about an axis, with the axis of each wheel disposed at a non-zero angle with respect to an axis that is defined by the centers of the respective wheels and that is substantially perpendicular to the direction of forward motion of the vehicle. The vehicle has a motorized drive that provides locomotion of the vehicle in an operating position that is unstable with respect to tipping if the motorized drive is not powered.

Abstract: A scooter type motorcycle includes a rear fork for supporting a rear wheel of the motorcycle. A front portion of the rear fork is attached to a crankcase of an engine in a vertically swingable manner. The engine is mounted to a body frame through elastic members. The mounting arrangement enhances the comfort of the ride of the motorcycle by reducing vibrations from being transmitted from the rear wheel to the rider.

Abstract: To enable common use of the vehicle body frame even when the rear wheel diameter has been changed. In a rear wheel supporting device for a vehicle, the pivot member is removably attached to a rear portion of the vehicle body frame. The swing member is vertically swingably attached on the pivot member. The rear wheel is rotatably mounted on the rear portion of the swing member. A plurality of mounting portions, which are vertically arranged, are provided on the vehicle body frame. The plurality of vertically arranged mounting portions are selected in accordance with the rear wheel diameter. The pivot member is installed, so that the mounting height of the pivot member will be freely adjustable.

Abstract: Described is a mobile apparatus (10) having at least one wheel (14) which is rotatable about a wheel axle (12). A main body (16) of the apparatus is mounted swingingly on the wheel axle (12). Oscillating movements of the main body (16) about the wheel axle (12) are compensated by means of a compensating weight (68) which is definedly movable out of the normal rest position by means of a regulator (56). A drive device (18) is provided on the main body (16) for driving the at least one wheel (14) of the mobile apparatus (10). The wheel axle (12) has at least one differential (20) which is operatively connected to the drive device (18) and which is arranged between the at least one wheel (14) and an associated pinion (36) which is operatively connected to the associated regulator (56) and to the corresponding compensating weight (68) or to the compensating weight (68) formed by the respective regulator (56).

Abstract: A master cylinder is disposed forwardly of a rear fork. A brake hose extends from the master cylinder to a brake caliper. The brake hose has a first U-shaped portion formed between the master cylinder and a portion of the brake hose fixed to the rear fork. A second U-shaped portion is formed in the brake hose between the portion fixed to the rear fork and the brake caliper. The second U-shaped portion is held by a first hose guide. Adjustment in the position of a rear axle relative to the frame, to accommodate elongation of a drive chain, is absorbed by the second U-shaped portion. Suspension movement of the rear axle relative to the frame during travel is absorbed by the first U-shaped portion.

Abstract: With a vehicle comprising a motor (5) and at least one rotatable element (1, 2; 10) which follows the ground, at least one rotatable element (1, 2; 10) is connected to a steering mechanism for controlling the direction of travel of the vehicle. The steering mechanism comprises means (11) for adjusting the momentary distance from the axis of rotation of at least a part of a rotatable element (1, 2; 1 0) to the ground or means for adjusting the momentary coefficient of friction of at least a part of a rotatable element (1, 2; 10). Thus, the vehicle has a simple steering mechanism.

Abstract: An improved meter display device and control device for a saddle type vehicle such as a motor scooter. The display is mounted in the handlebar cover and in addition to the mounting the display, certain engine control parts are also mounted in the same housing so as to make a neater installation and simplify the overall construction.

Abstract: A passenger vehicle comprises exactly two wheels (1, 2) which are in contact with the ground during travelling of the vehicle, a motor and a passenger space (3). The axes of rotation of the two wheels (1, 2) are situated substantially in one horizontal line or in one vertical plane. Consequently, the vehicle is very compact.

Abstract: A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. This embodiment has a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered.

Abstract: An automatically balancing vehicle having a headroom monitor. The headroom monitor determines the difference between the maximum velocity of the vehicle and the present velocity of the vehicle. An alarm receives a signal from the headroom monitor and produces a warning when the headroom falls below a specified limit.

Abstract: To provide a vehicle body frame having a simple structure which can be flexible at the time of cornering. A cross pipe which connects a pair of left and right main frames in a traverse direction are provided. An arm portion is provided which extends from an intermediate portion of the cross pipe in the frontward direction and approximately horizontally. An upper engine hanger has one end thereof mounted on an extended end portion of the arm portion and the other end thereof extending downwardly and connected with a cylinder head portion of an engine.

Abstract: To provide a power transmission mechanism into which a driven flange is assembled, the power transmission mechanism producing no metal contact noises. A driven flange is divided into an engine side flange and a wheel side flange. The engine side flange may be formed of a steel forging and the wheel side flange may be formed of an aluminum forging. The engine side flange is spline-fitted in a final gear integrally rotated with a bevel gear. Furthermore, openings are formed in the wheel side flange at equal intervals and blocks having a threaded hole therein are pressed into the openings. In addition, the engine side flange, the wheel side flange, and the blocks are integrally connected together with bolts.

Abstract: A method for controlling a motorized balancing transporter that has two wheels in contact with the ground in normal operation. A signal substantially proportional to the shaft velocity is produced, and, at a rate less than 200 times per second, a voltage is calculated based at least on the shaft velocity signal and a specified transporter velocity and a voltage is applied to the motor based on the calculated voltage. A method is also provided for yaw control of the motorized balancing transporter that includes calculating a command to a motor amplifier based on balancing requirements of the transporter and augmenting the command to the motor amplifier based on a specified direction of motion.

Abstract: A cover for a master cylinder assembly and a portion of a brake pedal of a motorcycle includes first and second cover members. The first cover member covers an outer end of the brake pedal hub, and covers the master cylinder assembly. The brake pedal is movable with respect to the first cover member. The second cover member is fixed to an inner end of the brake hub for rotation with the brake pedal hub. The second cover member is at least partially disposed within the first cover member. A slot is defined between the first and second cover members through which a lever portion of the brake pedal extends. The slot allows full range of motion for the brake pedal.

Abstract: There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subject. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the surface. Finally, the embodiment has a control loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module.