主权项 |
1. A method for controlling a transporter, the transporter having at least one ground-contacting element and a controller operatively communicating with the at least one ground-contacting element, the method comprising:
receiving, by the controller, a desired yaw and a desired yaw rate, the desired yaw and the desired yaw rate being based on a body orientation of a load on the transporter; computing, by the controller, a desired direction of motion of the transporter based on the received desired yaw and the received desired yaw rate; receiving, by the controller, a pitch of the transporter; computing, by the controller, a pitch command signal based on the pitch; computing, by the controller, a command signal based on the desired direction and the pitch command signal; and providing, by the controller, the command signal to maintain balance of the transporter and motion in the desired direction. |