Guided control of a transporter
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United States of America Patent
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Aug 24, 2010
Grant Date -
May 1, 2008
app pub date -
Oct 29, 2007
filing date -
Feb 24, 1993
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal.The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.
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