MOTION CONTROL FOR A TRANSPORTER

摘要

A transporter for transporting a subject over a surface that may be irregula r. The transporter includes a support platform for supporting a load, the loade d 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.