CONTROL OF A TRANSPORTER BASED ON ATTITUDE

摘要

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.

主权项

1. A transporter for transporting a load over a surface, the transporter comprising:
a support platform for supporting the load, the support platform characterized by a fore-aft axis and a lateral axis; at least one ground-contacting element coupled to the support platform in such a manner that the orientation of the support platform with respect to the surface beneath and in contact with the at least one ground-contacting elements is capable of variation, the orientation referred to as an attitude; a motorized drive arrangement for driving the at least one ground-contacting elements; a sensor module for generating a signal characterizing the attitude of the support platform; and a controller for commanding the motorized drive arrangement to apply a torque to one or more of the ground-contacting elements as a function of the attitude of the support platform based upon the signal generated by the sensor module.