| 摘要 |
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. |
