Yaw control for a personal transporter
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...
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| creator | KELLY W. PATRICK LEMAY PHILIP MORRELL JOHN B ROBINSON DAVID W ARLING RICHARD W POMPA JONATHAN B |
| description | 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. |
| format | Patent |
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PATRICK ; LEMAY PHILIP ; MORRELL JOHN B ; ROBINSON DAVID W ; ARLING RICHARD W ; POMPA JONATHAN B</creatorcontrib><description>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.</description><edition>7</edition><language>eng</language><subject>AMUSEMENTS ; CYCLE AXLE SUSPENSIONS ; CYCLE FRAMES ; CYCLE SIDE-CARS, FORECARS, OR THE LIKE ; CYCLE STEERING DEVICES ; CYCLES ; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE ; GAMES ; HUMAN NECESSITIES ; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS ; PERFORMING OPERATIONS ; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES ; ROLLER SKATES ; SKATES ; SKIS ; SPORTS ; TRANSPORTING</subject><creationdate>2004</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20040914&DB=EPODOC&CC=US&NR=6789640B1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76289</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20040914&DB=EPODOC&CC=US&NR=6789640B1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>KELLY W. PATRICK</creatorcontrib><creatorcontrib>LEMAY PHILIP</creatorcontrib><creatorcontrib>MORRELL JOHN B</creatorcontrib><creatorcontrib>ROBINSON DAVID W</creatorcontrib><creatorcontrib>ARLING RICHARD W</creatorcontrib><creatorcontrib>POMPA JONATHAN B</creatorcontrib><title>Yaw control for a personal transporter</title><description>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.</description><subject>AMUSEMENTS</subject><subject>CYCLE AXLE SUSPENSIONS</subject><subject>CYCLE FRAMES</subject><subject>CYCLE SIDE-CARS, FORECARS, OR THE LIKE</subject><subject>CYCLE STEERING DEVICES</subject><subject>CYCLES</subject><subject>DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE</subject><subject>GAMES</subject><subject>HUMAN NECESSITIES</subject><subject>LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS</subject><subject>PERFORMING OPERATIONS</subject><subject>RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES</subject><subject>ROLLER SKATES</subject><subject>SKATES</subject><subject>SKIS</subject><subject>SPORTS</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2004</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZFCLTCxXSM7PKynKz1FIyy9SSFQoSC0qzs9LzFEoKUrMKy7ILypJLeJhYE1LzClO5YXS3AwKbq4hzh66qQX58anFBYnJqXmpJfGhwWbmFpZmJgZOhsZEKAEAM5Mnjw</recordid><startdate>20040914</startdate><enddate>20040914</enddate><creator>KELLY W. 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PATRICK ; LEMAY PHILIP ; MORRELL JOHN B ; ROBINSON DAVID W ; ARLING RICHARD W ; POMPA JONATHAN B</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US6789640B13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2004</creationdate><topic>AMUSEMENTS</topic><topic>CYCLE AXLE SUSPENSIONS</topic><topic>CYCLE FRAMES</topic><topic>CYCLE SIDE-CARS, FORECARS, OR THE LIKE</topic><topic>CYCLE STEERING DEVICES</topic><topic>CYCLES</topic><topic>DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE</topic><topic>GAMES</topic><topic>HUMAN NECESSITIES</topic><topic>LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS</topic><topic>PERFORMING OPERATIONS</topic><topic>RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES</topic><topic>ROLLER SKATES</topic><topic>SKATES</topic><topic>SKIS</topic><topic>SPORTS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>KELLY W. PATRICK</creatorcontrib><creatorcontrib>LEMAY PHILIP</creatorcontrib><creatorcontrib>MORRELL JOHN B</creatorcontrib><creatorcontrib>ROBINSON DAVID W</creatorcontrib><creatorcontrib>ARLING RICHARD W</creatorcontrib><creatorcontrib>POMPA JONATHAN B</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>KELLY W. PATRICK</au><au>LEMAY PHILIP</au><au>MORRELL JOHN B</au><au>ROBINSON DAVID W</au><au>ARLING RICHARD W</au><au>POMPA JONATHAN B</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Yaw control for a personal transporter</title><date>2004-09-14</date><risdate>2004</risdate><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><edition>7</edition><oa>free_for_read</oa></addata></record> |
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| subjects | AMUSEMENTS CYCLE AXLE SUSPENSIONS CYCLE FRAMES CYCLE SIDE-CARS, FORECARS, OR THE LIKE CYCLE STEERING DEVICES CYCLES DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE GAMES HUMAN NECESSITIES LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS PERFORMING OPERATIONS RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES ROLLER SKATES SKATES SKIS SPORTS TRANSPORTING |
| title | Yaw control for a personal transporter |
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