Abstract: A method for forming a robotic vehicle. The method may involve forming a body and arranging a plurality of movable legs to project from the body for propelling the body over a surface. An actuator may be carried by the body to selectively engage and disengage different ones of the movable legs to cause a motion of the body, and thus the robotic vehicle, to travel over the surface.

Abstract: Methods and apparatus are provided for reaction wheel (RW) assemblies for spacecraft. The apparatus comprises a M/G coupled to an inertia wheel and a controller coupled to the M/G that, in response to commands it receives, couples power to or from an M/G of another RW assembly over a shared transfer connection (VXFR), so that one M/G acts as a generator powering another M/G acting as a motor. The controller compares generator voltage VGEN to the BEMF of the motor on VXFR and reconfigures a multi-winding M/G or steps-up the generated voltage to maintain VGEN>VXFR to maximize direct energy transfer from one RW to the other as long as possible. When VGEN declines sufficiently, the controller can couple the motor to the spacecraft power bus and/or the generator to a power dump so as to continue to provide the commanded torque if needed. Operation is automatic.

Abstract: A legged robot having a robot structure (20) in the form of a closed kinematic chain and an actuator (26) that contracts when activated. The contraction of the actuator extends a foot element (30) such that it can excerpt a pushing force against a ground surface. When the foot element excerpts sufficient force the legged robot can separate from the ground surface and achieve a dynamic hopping motion.

Abstract: A surface vehicle capable of overcoming obstacles is disclosed in which the vehicle accelerates vertically while having a horizontal velocity. The vehicle has a frame and at least three wheels attached to the frame to which a horizontal propulsion system is coupled. Further, a vertical propulsion system is coupled to the frame and the wheels. The vertical propulsion system is capable of providing a force to such wheels normal to the surface so that the vehicle separates from the surface. The vehicle has an electronic control unit coupled to the vertical propulsion system to automatically control its operation.

Abstract: A mechanism (106) for selecting one of a first gear (102) and a second gear (104) for driving an automatic swimming pool cleaner (10) includes a bi-stable oscillating gear change assembly (100). The assembly is moveable between a first position wherein the first gear is engaged and a second position wherein the second gear is engaged. A first magnet (142) is carried by the assembly. A second magnet (138, 140) is carried externally of the assembly on the cleaner body (18). A cam arrangement (152, 160) initiates movement of the assembly (100) from one of the first and second positions to enable mutually repelling forces between like poles of the first and second magnets (142, 138, 140) to cause the assembly to settle in another of the first position and the second positions, thereby to change between the first and second gears quickly and cleanly.

Abstract: A vehicle including a body and three legs. Each leg includes a proximal end coupled to the body, a distal end opposite the proximal end, and an actuator. Each actuator imparts enough acceleration to the vehicle along an axis of the leg to cause the distal end of the leg to leave a surface upon which it rests. Thus, the robot can pivot around one leg when the actuator of another leg imparts an acceleration. One actuator may also cause two legs to leave the surface. Moreover, the actuators may be spring biased into a retracted position. Further, the body may be a Platonic solid and the axes of the lags may pass through the vehicle's center of gravity. Of course, the body could be a sphere while the vehicle could be a planetary robot or a toy. Methods of traversing a surface are also provided.

Abstract: In a preferred embodiment, an apparatus, including: a ball wheel; and apparatus to cause the ball wheel to rotate in a selected direction.

Abstract: A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has at least 7 degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.

Abstract: A main ellipsoidal drive element is provided including a buoyant internal chamber. The main ellipsoidal drive element defines a main ellipsoid axis, a minor ellipsoid plane, a first ellipsoid end portion, a second ellipsoid end portion, and an outer ellipsoid surface. A drive engagement element is mounted to the first ellipsoid end portion and selectively transfers rotational drive to the main ellipsoidal drive element around the main ellipsoid axis. A plurality of roller elements are mounted around a minor ellipsoid periphery of the main ellipsoidal element. Each of the roller elements are orientated to provide friction reduced rolling in a main ellipsoid axis direction and traction perpendicular to the main ellipsoid axis direction.

Abstract: Taught is an apparatus for converting energy in a wheeled vehicle, comprising a wheel rim; a tire; and a plurality of hydraulic plunger cylinders alternatively distributed on periphery of the wheel rim.

Abstract: Powered wheeled vehicle (1), capable of travelling both on level ground and over uneven surfaces, comprising at least one driving tread (BR11) as well as two pairs of front wheels (R61) and rear wheels (R21), of which at least one is a driving pair, wherein each wheel of the driving wheel pair is mounted on a swing arm, each arm of the swing arms (B21) of the rear wheels (R21) is secured to an actuator (V2) for placing said wheels in at least two positions, namely: a first lower position in which the ground-engaging surface of the wheels is below the ground-engaging surface of the tread so that said wheeled vehicle is moved by the wheels alone, and a second position in which the ground-engaging surface of the wheels remains in contact with the ground so that the vehicle is moved by a combination of the tread and said driving wheels.

Abstract: A platform wheeled apparatus that incorporates an intelligent wheel configuration for each wheel in which each wheel can dynamically change its radius to negotiate various obstacles. The intelligent wheel has a rotational hub and support disc that carries a series of arcuately spaced extendable, weight bearing radial spoke mechanisms that can be controllably extended and retracted in response to the anticipated terrain surface over which the wheel is to travel. The hub of the intelligent wheel carries a microcontroller for a set of obstacle proximity sensors, force and position sensors and an appropriate electrical power supply for operation of the spokes and control components.

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 traveling apparatus suitable for use in a two-wheeled traveling vehicle on which a man rides, and a method for controlling thereof, are provided. An abrupt turn, which can make a rider fall down, is prevented, and stable traveling is obtained without fail. Specifically, the apparatus and method efficiently charge regenerative energy that is generated when decelerating or traveling on a downward slope. The apparatus and method include motors for driving a plurality of wheels independently, a chassis for connecting the plurality of wheels, in which sensors for detecting a shift of barycenter of a rider are provided, and a controller for restricting a rotational velocity of each of the plurality of wheels to a predetermined limited value, wherein turning is performed in accordance with the shift of a barycentric position.

Abstract: The invention comprises a method of using a scalable, configurable “propulsor” system to move and navigate a submersible device through a fluid medium. A propulsor system is an assembly of individual propulsors that act in concert to form a substantially continuous control surface that undulates in a working fluid. Each propulsor is driven and configured by computer-controlled actuators so that the control surface undulates in various wave forms. Optional actuators that may refine the surface shape include an “orientation” actuator that drives rotation about the propulsor's longitudinal axis, and a “geometry” actuator that controls each propulsor's geometric configuration.

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 vehicle having a chassis comprises a turbofan engine mounted on the chassis for providing thrust to propel the vehicle over a surface, and four wheels located about and mounted on the chassis wherein at least two of the wheels are substantially spherical or partially spherical in shape. Braking systems, steering systems and stabilizing mechanisms may be provided in accordance with various aspects of the invention.

Abstract: A vehicle with zero turning radius employing a minimum of two generally parallel matching annular wheels mounted with independent pneumatic toroidal suspensions fixed coaxially on a chassis. The wheels have mounted on their inner hub sides frictional linings along which run a respectively equal number of circumferentially distributed truncated-bicone-shaped rotors of brush-less dc motors with stator shafts fixed on to the axles of the wheels. Addition of a number of large holonomic wheels in tandem on either side of the two generally parallel wheels makes the vehicle longer and more stable. The large holonomic wheels have tires formed by a toroidal unanimity of disc-like rollers with magnetic or electromagnetic elements radially distributed evenly to make each disc-like roller rotate or resist rotation perpendicular to the holonomic wheel axis by acting as a rotor to motor stator windings attached to the chassis in proximity with the ground-engaging portion of the tire.

Abstract: A surface clinging robotic device. The device includes a supporting structure or base, on which is mounted (a) a lead pivoting support surface, such as a pivoting wheel, and (b) two or more traction drives, such as drive wheels. Each of the traction drives are independently driven by a separate drive motor. A plurality of vacuum cups are mounted on the bottom of the base. The vacuum cups each have a low friction foot designed for movement over a surface with minimal friction while vacuum is maintained. The low friction foot portion is provided by a generally surface direction oriented C-shaped Teflon skin. The robotic device can move over gaps or obstructions in the surface without losing vacuum in all of the vacuum cups, using a fluid limiting valve at each vacuum cup to interrupt flow in the event of loss of vacuum in that vacuum cup.

Abstract: A controller for providing user input of a desired direction of motion or orientation for a transporter. The controller has an input for receiving specification by a user of a value based on a detected body orientation of the user. User-specified input may be conveyed by the user using any of a large variety of input modalities, including: ultrasonic body position sensing; foot force sensing; handlebar lean; active handlebar; mechanical sensing of body position; and linear slide directional input. An apparatus that may include an active handlebar is provided for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle.

Abstract: A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Abstract: The present invention relates to novel, highly mobile small robots called “Mini-WHEGS™” that can run and jump. They are derived from our larger WHEGS™(“wheel-like lecis”) series of robots, which benefit from abstracted cockroach locomotion principles. Part of their success is derived from the three spoked appendages, called “WHEGS™”, which combine the speed and simplicity of wheels with the climbing mobility of legs. To be more compact than the larger WHEGS™ vehicles, Mini-WHEGS™ uses four wheel-like legs in an alternating diagonal gait. These 9 cm long robots can run at sustained speeds of over 10 body lengths per second and climb obstacles that are taller than their leg length. They can run forward and backward, on either side. Their robust construction allows them to tumble down a flight of stairs with no damage and carry a payload equal to twice their weight. A jumping mechanism enables Mini-WHEGS™ to surmount much larger obstacles such as stair steps.

Abstract: A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

Abstract: A traveling apparatus and a method for controlling thereof performs efficient charging with regenerative electrical power. An angle ?0 of a table (not illustrated) is detected by a gyroscopic sensor and an acceleration sensor to be supplied to a central control unit. Then, positional command signals Pref1(t) and Pref2(t) formed are supplied to motor control units which perform control of driving left and right motors respectively. Further, rotational positions ?m1 and ?m2 of the motors are respectively detected in rotary encoders, those det signals are fed back to the motor control units, and control is performed so as to comply with the positional command signals Pref1(t) and Pref2(t) formed in the central control unit.

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 legged robot having a robot structure (20) in the form of a closed kinematic chain and an actuator (26) that contracts when activated. The contraction of the actuator extends a foot element (30) such that it can excerpt a pushing force against a ground surface. When the foot element excerpts sufficient force the legged robot can separate from the ground surface and achieve a dynamic hopping motion.

Abstract: A vehicle including a body and three legs. Each leg includes a proximal end coupled to the body, a distal end opposite the proximal end, and an actuator. Each actuator imparts enough acceleration to the vehicle along an axis of the leg to cause the distal end of the leg to leave a surface upon which it rests. Thus, the robot can pivot around one leg when the actuator of another leg imparts an acceleration. One actuator may also cause two legs to leave the surface. Moreover, the actuators may be spring biased into a retracted position. Further, the body may be a Platonic solid and the axes of the lags may pass through the vehicle's center of gravity. Of course, the body could be a sphere while the vehicle could be a planetary robot or a toy. Methods of traversing a surface are also provided.

Abstract: A surface clinging robotic device. The device includes a supporting structure or base, on which is mounted (a) a lead pivoting support surface, such as a pivoting wheel, and (b) two or more traction drives, such as drive wheels. Each of the traction drives are independently driven by a separate drive motor. A plurality of vacuum cups are mounted on the bottom of the base. The vacuum cups each have a low friction foot designed for movement over a surface with minimal friction while vacuum is maintained. The low friction foot portion is provided by a generally surface direction oriented C-shaped Teflon skin. The robotic device can move over gaps or obstructions in the surface without losing vacuum in all of the vacuum cups, using a fluid limiting valve at each vacuum cup to interrupt flow in the event of loss of vacuum in that vacuum cup.

Abstract: A multi-terrain amphibious vehicle for travel across various types of surfaces and upon various bodies of water. The vehicle has an elongated longitudinally extending chassis having a bottom surface having a centerline. A plurality of left side propulsion units and a plurality of right side propulsion units extend inwardly toward the centerline and they are supported by the chassis. A vehicle body having a passenger compartment is mounted on the chassis. A source of drive power is mounted on the chassis. Power transmission structure connects the drive power structure to the driven axles of the respective left and right side propulsion units. The propulsion units each have a plurality of cam-shaped wheels mounted on each driven axle. The cam-shaped wheels are oriented on the driven axle so that there will always be an arcuate perimeter segment of one of the cam-shaped wheels positioned to contact the ground surface during each 360 degree rotation of the driven shaft.

Abstract: A material handling system for use in storing and moving goods within multi-level storage warehouses, ocean going vessels and the like wherein storage areas are provided on at least one of the levels and wherein goods are automatically transferred to and from the storage areas and between the various levels by self-propelled load transfer vehicles. The load transfer vehicles move across the surface of the various levels and deliver are also movable within open vertical trunks between the levels to thereby move goods to any desired area.

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 wireless remote controlled rover (100) having a circular outer boundary when viewed in profile, comprising an elongated round-profile frame (20) outfitted with a pair of omnidirectional wheels (101L,R), rotatable in opposite directions by a drive system (50), for steering. Each of omnidirectional wheels (101L,R) comprises a set of secondary wheels (150L,R) akin to large diameter hollow flexible shafts arcuately bent and distributed in a polar array about corresponding hubs (82L,R). The secondary wheels (150L,R) are rotatable by the drive system (50) for longitudinal thrust of rover (100). A user controls the steering and thrust actions via remote control (166) for navigation and to compensate for incidental inertial rolling/careening effects of the two-wheel round-profile rover (100) while in motion. An onboard intelligent electronic processing unit (33) uses sensory feedback for autopilot, or assistive navigation, during certain scenarios such as performing user-requested optimum stopping maneuvers.

Abstract: A personal transporter that provides both for propulsion by a user, and, at the same time, for dynamic stabilization by means of a powered actuator. A pitch variable such as pitch or time rate of change of pitch is sensed and used to determine the torque provided to a wheel, whether in a co-rotating or counter-rotating direction, in order to maintain stability of the transporter with respect to tipping in the fore-aft plane.

Abstract: A movable robot includes a main body unit and at least three wheel units. The wheel units are connected with the main body unit. The wheel units at least partially project from the main body unit. The wheel units have contact portions for contact with a floor surface. Rotation drive devices operate for rotating the wheel units independently of each other. The main body unit is moved along the floor surface as the wheel units are rotated by the rotation drive devices. Lines projected onto the floor surface and originating from axes of rotation of the wheel units are spaced at substantially equal angular intervals.

Abstract: A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Abstract: A vehicle transport system including a torque platform with counter-rotating flywheels, whose axes of rotation are parallel to one another, is featured. One or more torque platforms are joined together with a platform rotating mechanism to rotate the platforms relative to the vehicle in which they are mounted. The combined mechanism is used to rotate the entire vehicle. Resistance of the counter-rotating flywheels to change in their axes of rotation provides rotational torque and rotation of the entire vehicle around the vehicle's center of mass. Successive increments of rotation in alternate rotational directions are coordinated with a transfer of mass to change the center of mass of the vehicle and are used to transport the vehicle. The successive angular motions of the vehicle around its changing center of mass achieves a resultant linear motion of the vehicle in the desired direction of travel.

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 methods for supporting a payload, such as a user, at a variable height above the ground and for repositioning the payload in a dynamically stabilized mode of operation. The transporter device has two laterally disposed primary wheels and a payload support that may be used to raise or lower the payload. A torque is applied to the laterally disposed wheels so as to propel the transporter on the basis of a control signal that may include repositioning of the device.

Abstract: A movable robot includes a main body unit, and at least three wheel units connected with the main body unit. The wheel units have respective contact portions for contact with a floor surface. The contact portions are rotatable about respective axes. The main body unit moves along the floor surface as the contact portions rotate. Lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals. At most two of the axes are on a common plane. Each of the wheel units includes a motor base, a rotation drive motor supported on the motor base, a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions, and a device for transmitting a rotational force generated by the rotation drive motor to the casing.

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. Related methods are provided for determining the maximum operating speed of the transporter from measurement of battery parameters and transporter motor current and for limiting the speed of the transporter to maintain stability.

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 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 propulsion mechanism is provided for driving a vehicle having a frame and socket. The propulsion mechanism has a spherical ball disposed within the socket and adapted to frictionally engage the ground surface. First and second powered drive members are frictionally engaged with the spherical ball and powered to rotate the spherical ball to propel the vehicle. The first and second powered drive members drive the spherical ball in first and second directions and may be operated simultaneously.

Abstract: A propulsion mechanism is provided for driving a vehicle having a frame and socket. The propulsion mechanism has a spherical ball disposed within the socket and adapted to frictionally engage the ground surface. First and second powered drive members are frictionally engaged with the spherical ball and powered to rotate the spherical ball to propel the vehicle. The first and second powered drive members drive the spherical ball in first and second directions and may be operated simultaneously.

Abstract: A movable robot includes a main body unit, and at least three wheel units connected with the main body unit. The wheel units have respective contact portions for contact with a floor surface. The contact portions are rotatable about respective axes. The main body unit moves along the floor surface as the contact portions rotate. Lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals. At most two of the axes are on a common plane. Each of the wheel units includes a motor base, a rotation drive motor supported on the motor base, a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions, and a device for transmitting a rotational force generated by the rotation drive motor to the casing.

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 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 load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

Abstract: A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal.

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.