| 摘要 |
<p>A personal transporter (110) that provides both for propulsion by a user (108), and, at the same time, for dynamic stabilization by means of a powered actuator (17). 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 (102), 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.</p> |
