Abstract: A robotic lawn mower comprises a frame, a first wheel set, and a second wheel set, wherein the first wheel set and the second wheel set are respectively arranged at opposite rear and front ends of the frame, the first wheel set is equipped with driving wheels, and the second wheel set is equipped with omni-directional wheels. The robotic lawn mower further comprises a controller, a first driving module, and a second driving module, wherein the controller is connected to each of the driving modules, the controller controls the first driving module to drive the first wheel set to move so as to provide main power to the robotic lawn mower, and the controller further controls the second driving module to drive the second wheel set to rotate so as to provide auxiliary power for overcoming a resistance generated by the ground when the second wheel set rotates.

Abstract: Disclosed embodiments include steering circuits utilizing a controllable cross-feed loop between left and right drive motor sides of an articulated power machine to reduce skidding caused by a turning operation in which an articulation actuator changes an articulation joint angle between a front frame member and a rear frame member of the power machine.

Abstract: Disclosed are a foot plate for a self-balancing scooter, and a self-balancing scooter. The foot plate (1) for a self-balancing scooter comprises a main body (10) and touch control portions (11). A front side and a rear side of a lower surface of the main body are both connected to the touch control portions, which protrude downwards and are used to trigger a sensor on a self-balancing scooter. The touch control portions at the front side and the rear side of the lower surface of the foot plate for a self-balancing scooter are capable of directly triggering corresponding sensors. The foot plate is applicable to twisting scooters having a left scooter portion and a right scooter portion which are capable of twisting relatively. No additional components are required, and users just need to install the foot plate on a self-balancing scooter.

Abstract: A spherical body drive type movement device 10 includes rotary bodies 14, 15, and 16 rotating n number of driving spherical bodies 11, 12, and 13 by being rotationally driven in a state of being in contact from two different directions with each of the driving spherical bodies 11, 12, and 13, and moves on a traveling surface G. The rotary bodies 14, 15, and 16 come into contact with the driving spherical bodies 11, 12, and 13 at positions higher than centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and inside a virtual inverted n-gonal pyramid H or, at positions higher than the centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and on lateral faces ?, ?, and ? of the virtual inverted n-gonal pyramid H.

Abstract: A robot according to an embodiment of the present disclosure may comprise: a base; a driving wheel protruding downward from the base; a plate spaced upward from the base; a through hole formed at the plate; a suspension bar including a shaft part rotatably connected to the base and vertically extending upward, and a screw part vertically extending from an upper end of the shaft part toward the through hole; a slider sliding along the shaft part and connected to the driving wheel; a bushing top configured to move up and down along the screw part when the suspension bar rotates; a spring located on an outer circumference of the suspension bar and located between the bushing top and the slider; and a motor disposed above the plate and connected to the screw part through the through hole to rotate the suspension bar.

Abstract: An electric walking assisting vehicle configured such that in accordance with operating amounts acting on an operation part, driving of driving motors is controlled and includes an inclination detector which detects inclination of a vehicle body in a forward-backward direction, and on flat land where inclination is less than a threshold, with an operation origin of the operation part as a center, the driving motors are controlled to generate torque in a forward direction by operation of pushing the operation part forward and to generate torque in a backward direction by operation of pulling the operation part backward, on an uphill road on which the inclination is the threshold value or more, the operation origin is shifted to an pulling operation side, and on a downhill road on which the inclination is the threshold value or more, the operation origin is shifted to a pushing operation side.

Abstract: A walking aid vehicle (1) includes: an operation part (3) provided on an upper portion of a vehicle body for grasping by a user in a walking posture; a detector (30) for detecting an operation force applied to the operation part; and an inclination detector (20) for detecting inclination of the vehicle body. When an advance direction inclination detected by the detector is less than threshold, a normal control (100) generates a normal direction torque in the drive motor (40L, 40R) responsive to pushing the operation part (3) forward and generates a reverse direction torque in the drive motor responsive to pulling the operation part rearward, and when the advance direction inclination is equal to or greater than threshold and pushing operation force is detected, a shift to a pull control (110) is made which generates normal direction torque in the drive motor responsive to a pulling operation force.

Abstract: Systems and methods of wheelchair systems enabling fine manual motion control are disclosed. In one embodiment, a wheelchair system includes a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine a wheel torque on the one or more wheels, determine a compensation value, and actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.

Abstract: A handle assembly for a cart with a power assist function can sense the direction that a user's force is applied, and provide assist power in the corresponding direction, such that the user can easily move the cart. A cart including the handle assembly allows the user to conveniently move the cart.

Abstract: In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

Abstract: This electromobility vehicle includes a vehicle frame, a seat unit mounted to the vehicle frame, a suspension mounted to a front-end side of the vehicle frame, a pair of front wheels aligned in a direction parallel to a width dimension of the vehicle and supported by the suspension, at least one rear wheel supported by the vehicle frame, and a drive device that drives either of the front wheels and the rear wheel, where the front wheels are omnidirectional wheels whose outer circumferential surfaces are formed by a plurality of rollers and the pair of front wheels is supported by the suspension such that it is placed in a toe-in arrangement.

Abstract: A suspension for a vehicle is provided. The suspension includes, for example, a frame, at least one drive assembly and at least one caster pivot arm. The at least one drive assembly and the at least one caster pivot arm are pivotally connected to the frame at a common pivot axis such that the drive assembly and the front caster pivot arm are pivotable relative to one another.

Abstract: A powered wheeled riding device is configured to receive left and right foot inputs from a user and in response control a left motor and a right motor to move respective left and right wheels forwardly and backwardly consistent with the left and right foot inputs in order to steer the device without changing a direction of the wheels relative to a frame of the riding device. The riding device has at least one rear wheel that is not powered. The rear wheel is mounted on a wheel mount that rotates freely about a vertical axis so that the rear wheel freely is directed in any direction.

Abstract: A system and method for improving stability of a wheelchair user includes a wheelchair having sensors measuring motion parameters to sense collisions and sharp turns which may unseat the user. Neuromuscular stimulating electrodes attached to extensor and flexor muscles of the user's trunk and under the command of a controller in communication with the sensors activate the muscles during turns and collisions to counteract the forces induced. A system and method for increasing manual propulsion efficiency includes sensors for sensing motion parameters indicating completion of a manual push of the wheelchair wheels and recovery from the push. Neuromuscular stimulating electrodes attached to extensor and flexor muscles of the user's trunk and under the command of a controller in communication with the sensors activate the muscles at the appropriate time in the cycle of push and recovery.

Abstract: A teaching method is for teaching a position and attitude of a robot arm to a robot configured to switch between a first state where the third axis is located at one side of a first imaginary line and a second state where the third axis is located at the other side of the first imaginary line, the first imaginary line being set as a straight line passing through a first axis and a second axis when the robot arm is viewed from a direction along the first axis. The method includes performing a switching operation of switching between the first state and the second state according to a result of detection by a force detection unit.

Abstract: A floor surveying comprises a self-contained mobile unit that performs simultaneous localization and mapping (SLAM) using wheel odometry data and data from a range finding laser device (RFLD), a digital camera, or both. Point cloud data for mapping is collected using a RFLD positioned near the floor and scanning in a plane perpendicular to the floor. 3D point cloud data representing the floor surface and surfaces in apposition to the floor are displayed and used to generate a floor map or floor plan.

Abstract: A powered wheelchair apparatus includes a chair component, a power base component and a wheelchair control system. The wheelchair control system includes a processor and a user input device communicatively coupled to the processor. A display is communicatively coupled to the processor. A memory module is communicatively coupled to the processor that stores logic that, when executed by the processor, causes the system to receive user instructions from the user input device and display a message on the display based on the user instructions. The display is on a back of the chair component.

Abstract: A reconfigurable joint track compound mobile robot has a main vehicle body, yaw joints and an auxiliary track module. The main vehicle body has a main track, and a clutch brake and a first wheel joint arranged in a main track driving wheel. A second wheel joint is arranged in a main track driven wheel. The main vehicle body is provided with main track driving mechanisms and a wheel joint driving mechanism. The main track driving wheel is driven to rotate by the main track driving mechanisms, which are connected with the clutch brake. The second wheel joint is driven to rotate by the wheel joint driving mechanism. Each wheel joint is correspondingly connected with the yaw joints, which are rotatably connected with the auxiliary track module. A yaw driving mechanism that drives the auxiliary track module to swing is arranged in each yaw joint.

Abstract: A control system is disclosed for use in a zero turn vehicle, including an electric controller in communication with a pair of independent drive units. A joystick is pivotable between a plurality of pivot positions, each pivot position corresponding to a particular rotational speed and direction of each driven wheel. A plurality of driving modes stored in the controller each map a different set of speeds and directions for each driven wheel onto the plurality of pivot positions. The joystick may also rotate about a vertical axis to provide zero turn capability. In at least one driving mode, when the rotational speed of one driven wheel is zero, the rotational speed of the other driven wheels is zero, and when the rotational speed of one driven wheel is non-zero, the rotational speed of the other driven wheel is non-zero.

Abstract: Apparatus and associated methods relate to a removable power assist for converting a manual wheelchair into an electronic wheelchair, based on configuring a friction roller to releasably engage with a wheelchair wheel, configuring the friction roller when engaged to drive the wheel through a contact surface with the wheel that may be positioned under the wheelchair seating area, or to the side of the wheelchair seating area, or to the underside of an armrest, or in front of a wheelchair wheel, configuring a motor to rotate the friction roller, and moving the wheelchair based on engaging the friction roller and activating the motor to turn the wheel through force by the friction roller against the contact surface with the wheel. Some designs include a lever configured to permit a user seated in the wheelchair to engage or disengage the friction roller.

Abstract: A wheelchair for transferring a patient to an automobile is disclosed that comprises: a base assembly; a first motor, a second motor, and a third motor connected to the base assembly; the first motor is configured to move the wheelchair around during a normal operating mode, the second motor is configured to provide stability to the wheelchair during a patient transferring mode; and a seating assembly having a fixed seat section and a movable seat section which are separated from each other during the patient transferring mode.

Abstract: A method, system, and machine for controlling the output of an engine of a machine includes calculating the difference between a measured track slip based on track speed and ground speed and a calculated target track slip depending on track speed and chassis pitch, inputting the difference into a controller to determine a propulsion engine torque limit, and limiting the engine toque to the propulsion engine torque limit plus a steering system input torque.

Abstract: The present invention relates to an electric wheelchair having a voice recognition drive system comprising: a traveling apparatus main body unit which has a plurality of wheels in a lower end thereof; a seating unit which is installed in an upper end of the traveling apparatus main body unit so as to be able to be lifted; an auxiliary robot leg unit which is able to be inserted into and protrude from the traveling apparatus main body unit, and which includes multi-joint driven by an external force; and a voice recognition drive unit which extracts a preset command from an externally input voice, and which drives the plurality of wheels, lifts the seating unit, and drives the auxiliary robot leg unit.

Abstract: The present disclosure discloses a two-wheeled self-balancing robot which solves the technical problems in the prior art that the robot can only travel on a flat ground and its driving environments are limited by making improvements in its mechanical structure. The two-wheeled self-balancing robot comprises a vehicle body with wheels mounted on both sides thereof. The vehicle body comprises a parallelogram frame which can deform tiltedly. The vehicle body is provided with a stage, and the stage is hinged with the parallelogram frame. The parallelogram frame is provided with a first motor. The first motor drives the parallelogram frame to deform tiltedly according to road conditions so as to always keep the stage horizontal. The two-wheeled self-balancing robot according to the present disclosure can adapt to complicated road conditions, and its stage always keeps horizontal such that the object carried is not prone to fall off.

Abstract: A bathroom compatible wheelchair assembly includes an Americans with Disabilities Act (ADA) compliant toilet of any conventional design. A wheelchair is provided that has a seat portion for bearing a disabled person. The seat portion has a height of at least 20.0 inches thereby facilitating the seat portion to be positioned over the ADA compliant toilet when the wheelchair is rolled over the ADA compliant toilet. Moreover, the seat portion has an opening extending therethrough and the opening is aligned with the ADA compliant toilet when the seat is positioned over the ADA compliant toilet for directing the disabled person's waste into the ADA compliant toilet. A control circuit is coupled to the wheelchair and a cover unit is movably coupled to the wheelchair. The cover unit is electrically coupled to the control circuit and the cover unit is positionable into a covering position to cover the opening. Thus, the cover unit can be sat upon by the disabled person.

Abstract: An undercarriage assembly for a tracked vehicle with a prime mover that provides a torque to the tracked vehicle, a final drive sprocket configured to provide a final drive torque on a track, a transmission mechanically coupled to the prime mover and the final drive sprocket to selectively transfer at least some of the torque generated by the prime mover to the final drive sprocket, at least one idler wheel that contacts the track, and an electric motor that provides an idler torque to the at least one idler wheel. Wherein, torque is distributed to the track through both the final drive sprocket and the idler wheel.

Abstract: A mower unit provided in a grass mower unit includes a mower deck having a top plate and a side plate extending downwards from the top plate, a rotational shaft extending through the top plate and rotatably supported to the top plate, and a blade attached to the rotational shaft inside the mower deck. A vibration detection unit is attached to the mower deck for detecting vibration in the mower deck. Vibration detected by the vibration detection unit is informed via an informing unit.

Abstract: A zero turn radius vehicle with a single steered wheel may include a pair of power transfer mechanisms driving a pair of wheels, an operator control mechanism for controlling the steering, speed and direction of the vehicle and a controller in communication with the control mechanism. A steerable wheel is located adjacent the front of the vehicle frame, on a first side of the vehicle frame and an electric actuator is connected to the controller for steering the front steerable wheel. A second, non-steerable front caster wheel is located on a second side of the vehicle frame. A damper is connected to the non-steered wheel to dampen rotation of the non-steered wheel about a non-steered wheel pivot axis The controller controls the pair of power transfer mechanisms and the electric actuator based on operator input.

Abstract: An automated guided trolley for transporting and/or handling a load. The trolley has a main frame for receiving the load and a supporting frame having two walking beams extending respectively towards the front and the rear of the trolley. The walking beams are mounted rotatably with respect to the main frame respectively about a first axis and a second axis and such a walking beam includes elements for securing one arm of one walking beam to one arm of the other walking beam and for supporting the first of these arms on the other arm.

Abstract: The present disclosure describes devices and systems that can be integrated with a foldable, manual wheelchair to convert the wheelchair into a hybrid chair capable of both manual operation and motor-powered operation. A wheelchair powering device includes a motor that is operatively coupled to a roller member so that rotation of the motor shaft causes rotation of the roller member. The roller member may be engaged against a tire of the wheelchair so that rotation of the roller member causes rotation of the tire via friction between the roller member and tire.

Abstract: A maintenance apparatus includes a flexible carriage configured to anchor between adjacent airfoils of a turbine assembly. The maintenance apparatus includes a maintenance tool operably coupled with the flexible carriage. The maintenance tool is configured to one or more of generate image data representative of one or more surfaces of the turbine assembly or repair the one or more surfaces of the turbine assembly. The maintenance apparatus comprises one or more motors operably coupled with the maintenance tool and configured to move the maintenance tool relative to the flexible carriage.

Abstract: A method of performing an autonomous parking maneuver of a vehicle begins with a human vehicle operator/driver issuing a command to a parking assistance system that the parking maneuver requires at least one vehicle wheel to encounter a vertical obstruction (such as a curb) undetected by a sensor providing information to the system. In reaction to the command, the parking assistance system enters an operating mode wherein a setpoint speed of the vehicle during the maneuver is decreased to operate the engine with a greater torque reserve so that it is better adapted to deal with the vertical obstruction. A brake system condition may also be changed when in the operating mode, such as decreasing a brake disk/pad distance. The command may be issued by a vehicle operator standing outside of the vehicle.

Abstract: A utility vehicle having operator selectable onboard and remote controls also includes a prime mover and a power generating device driven thereby, first and second electric wheel motors, and a drive controller in communication with the wheel motors to control the output thereof and in communication with the onboard controls. A radio control receiver is in communication with the drive controller and with a radio control transmitter having steering and speed controls. The vehicle includes a control mode switch having a first position where the drive controller receives steering and speed control inputs from the onboard controls, and a second position where the drive controller receives steering and speed control inputs from the radio control transmitter.

Abstract: A device for measuring a neural response evoked by a stimulus. First and second sense electrodes are positioned at distinct locations along a neural pathway. A neural stimulus is applied and first and second recordings of a neural response evoked by the stimulus are obtained from the respective sense electrodes. The first recording and the second recording are compared to determine propagation properties of the evoked neural response.

Abstract: An electric balancing swing car comprises: supporting frameworks, including a first supporting framework and a second supporting framework that are symmetrically disposed and that can rotate relative to each other; a first wheel and a second wheel, connected to the first supporting framework and the second supporting framework respectively; a connecting device, which extends from the second supporting framework, is connected to the second supporting framework and is in rotation connection to the first supporting framework; a position sensor, disposed in the first supporting framework and used for sensing position information of the first supporting framework relative to the ground and movement change information of the second supporting framework relative to the first supporting framework; and a control device, used for driving, according to first position information obtained by the position sensor, the first wheel to rotate or move, and driving, according to the first position information and a rotation ang

Abstract: A chair includes a seat and a back rest, both of which pivot about respective axes between first and second positions thereof about parallel axes of rotation. The seat's second position is inclined relative to a first seat plane defined by the seat's first position. The backrest's second position is essentially parallel to the first seat plane such that the chair switches between seating and support configurations. In the seating configuration, the seat and backrest are their respective first positions such that the chair accommodates a seated person. In the support configuration, the seat and backrest are in their respective second positions such that the chair accommodates a person's chest on the backrest's rear face.

Abstract: A method for controlling a power steering system of a road vehicle includes: after the road vehicle is started, activating only an EPS subsystem; afterward, activating an EHPS subsystem when a speed of the road vehicle is not higher than a predetermined speed threshold; once the EHPS subsystem is activated, controlling the hydraulic motor of the EHPS subsystem to rotate at a rotational speed lower than a pre-set rotational speed when a torque applied to a steering column is smaller than a predetermined torque threshold.

Abstract: To provide a vehicle body structure for an autonomously traveling vehicle that is distinguished for maintainability. A vehicle body structure (1) for an autonomously traveling vehicle that travels on wheels (3) provided on a chassis (2) includes side frames (4R), (4L) that extend in a chassis longitudinal direction on both sides of the chassis with respect to a chassis width direction, first drive units (20) in each of which a drive motor (5) that is for driving the wheel (3), a reduction gear (6), and a drive shaft (7) that drives the wheel (3) are integrally configured, and second drive units (30) which each rotatably hold a drive shaft (7) that drives the wheel (3). The vehicle body structure (1) is characterized in that the first drive units (20) and the second drive units (30) are each provided so as to be integrally mountable in and dismountable from the same side frames.

Abstract: An improved cruise control system is configured to be retrofit with an electrical mobility scooter. The cruise control system has module that is a self-contained unit, comprising an assembly of electronic components and associated wiring, including a processor and memory with software for processing by the processor, which performs defined tasks, and which is linked with the scooter controller, power supply and scooter throttle control.

Abstract: A rocker bogie includes a first base which including a first wheel, a second wheel, and a third wheel each of which is configured to be in contact with a first flat surface, a second base including a fourth wheel which is configured to be in contact with the first flat surface, and a rotary shaft connecting the first base and the second base to each other such that the second base is rotatable with respect to the first base. The rotary shaft is parallel to a first straight line which connects a rotation center of the first wheel and a rotation center of the second wheel to each other and is disposed between a rotation center of the third wheel and the first straight line, and the fourth wheel is disposed at an opposite position to the third wheel across the first straight line.

Abstract: A ride-on vehicle is provided that has a speed controlled switching system. The ride-on vehicle has a vehicle body having a driver's seat, a plurality of wheels, a motor, a battery electrically connected to the motor, a direction switch assembly electrically connected between the battery and the motor, and a speed switch electrically connected between the direction switch assembly and the motor. The direction switch assembly has a forward button and a reverse button, and is proximal the driver's seat in the vehicle body. The speed switch has a high speed setting and a low speed setting and is distal the driver's seat and generally not accessible by a rider seated in the driver's seat. When the reverse button is actuated the direction switch assembly causes the voltage observed by the motor to be at the low speed setting regardless of the setting of the speed switch.

Abstract: An autonomous guided vehicle includes a drive having a high power density, a high sustainable wheel load density, and sufficient moment of inertia. The drive includes a single pass gear set, a preload system for roller bearings, a flywheel, an integral motor, and encoders.

Abstract: Embodiments disclose systems and methods for a vehicle with an articulating suspension exploration platform with shock dampening. More specifically, embodiments include a passive articulating of forces by mirroring and chaining bar linkages.

Abstract: The present disclosure relates to a chassis arrangement (1) for an electrically powered wheelchair (35). The chassis arrangement (1) comprises a main chassis member (3) having a first side panel (3a) defining a first side of the main chassis member (3), and a second side panel (3b) defining a second side of the main chassis member (3), the second side being opposite to the first side, wherein each of the first side panel (3a) and the second side panel (3b) has spring attachment arrangements (3g, 3h) for attachment of spring assemblies (9a, 9b, 11a, 11b), wherein each of the first side panel (3a) and the second side panel (3b) has pivot arm attachment arrangements (3e, 3f) for attachment of pivot arms (5a, 5b, 7a, 7b), wherein the main chassis member (3) has a torsional stiffness greater than 1200 Nm/degree. An electrically powered wheelchair comprising a chassis arrangement (1) is also presented herein.

Abstract: A folding wheelchair, including a back frame a seat frame a lower frame, two rear wheel assemblies, two front wheel assemblies and an armrest; the armrest and the seat frame are hingedly connected to the back frame from top to bottom in a sequence; the two front wheel assemblies is connected to the lower frame; a sliding guide rail is provided between one end of the seat frame and each rear wheel assembly, and is provided with a sliding block thereon in a sliding fit manner; the sliding block is hingedly connected to a lower end of the back frame and the lower frame or the lower end of the back frame is hingedly connected to the sliding block and the lower frame; or the lower frame is hingedly connected to the lower end of the back frame and the sliding block The folding wheelchair is safe and reliable touse, and can be folded smoothly and quickly; in addition, the folded wheelchair has a small size, and is convenient to lean, against a wall, occupies a small space in a vehicle trunk or under a bed, and is co

Abstract: An electric work vehicle includes a casing structure connected to a vehicle frame and having a central casing, a left casing, and a right casing. The vehicle further includes a left rear wheel supported by the left casing, a right rear wheel supported by the right casing, a left motor housed in a left region of the central casing, a right motor housed in a right region of the central casing, a left transmission mechanism housed in the left casing for transmitting power from the left motor to the left rear wheel, and a right transmission mechanism housed in the right casing for transmitting power from the right motor to the right rear wheel.

Abstract: The present disclosure provides a drive control method, a drive control device of a hybrid electric vehicle and a hybrid electric vehicle. The drive control method includes: obtaining a current gear position of the hybrid electric vehicle, a current electric charge level of a power battery and a slope of a road on which the hybrid electric vehicle is driving; obtaining a current speed of the hybrid electric vehicle if the current gear position of the hybrid vehicle, the current electric charge level of the power battery, and the slope of the road on which the hybrid electric vehicle is driving meet a preset requirement; and causing the hybrid electric vehicle to enter a small load stop mode if the current speed is greater than or equal to a first speed threshold, and less than a second speed threshold.

Abstract: A two-wheeled balancing electric vehicle; a connecting body partially overlaps with a left support assembly and a right support assembly respectively; a plurality of elastic devices are arranged in the vertical direction, with at least one elastic device disposed at the front end position between the connecting body and the right support assembly, with at least one elastic device disposed at the rear end position between the connecting body and the right support assembly, with at least one elastic device disposed at the front end position between the connecting body and the left support assembly, with at least one elastic device disposed at the rear end position between the connecting body and the left support assembly. Under the function of the elastic device at the front end, the force of the malfunction of leaning backwards will be absorbed, in order to prevent the balancing vehicle from opening self-sensing of leaning backwards, so that the danger is avoided.

Abstract: A self-propelled vehicle includes a maneuvering unit, a drive unit including first and second drive sections, which are driven and controlled by drive wheel control commands, a drive wheel unit including left and right drive wheels driven by the first and second drive sections, respectively, at least one caster wheel which is controlled by a caster wheel control command, a bank detector for detecting a degree of bank of the vehicle and a control unit including a drive wheel control section for generating the drive wheel control commands. The control unit further includes a caster wheel control section which generates the caster wheel control command for controlling the steering angle of the caster wheel during a bank traversing travel, based on the bank degree so as to resolve a difference between a target travel and the actual travel which occurs during the bank traversing travel.

Abstract: A track system for use as a wheel replacement on typically wheeled vehicle is disclosed. The track system comprises a drive wheel configured to be mounted to the vehicle, a support frame, front and rear idler wheels respectively pivotally mounted at the front and at the rear of the support frame, road wheels pivotally mounted along the support frame between the front and read idler wheels, and an endless track mounted about the wheels. The position of the front and/or rear idler wheels is adjustable in order to modify the overall shape of the perimeter of the track system generally defined by the endless track, thereby changing the riding behavior of the track system. A method to change the position of the adjustable idler wheels is also disclosed.