Vehicle
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United States of America Patent
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-
Apr 16, 2013
Grant Date -
May 6, 2010
app pub date -
Feb 22, 2008
filing date -
Mar 27, 2007
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A vehicle provides upstanding and tilted (standstill for allowing a user to get on an off the vehicle) positions without movement of the vehicle. In the vehicle, even if the vehicle body tilts, a riding section is moved in the forward-backward direction to bring the vehicle to an orientation where the center of gravity (P) of the vehicle body is on a vertical line (V) passing through ground contact points (S1) or drive wheels (12). This controls the tilt angle of the vehicle body and the position of the riding section (13) so that the center of gravity (P) does not move. Thus, the upright position and the tilted position of the vehicle are achieved without movement of the vehicle (without rotation of the wheels). Further, influences such as an error in parameters and disturbance are compensated for by a balancer that moves in the forward-backward direction.
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