Dynamically stable transporter controlled by lean

A method for controlling a transporter having a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution, the transporter further including a plurality of ground-contacting elements with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane, the transporter further including a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:

• determining a tilt in the fore-aft plane with respect to the ground of the loaded support, the load distribution determining the tilt in the fore-aft plane;
• sensing a roll angle in the lateral plane of the loaded support platform;
• and
• commanding the motorized drive arrangement based at least on the tilt in the fore-aft plane indicative of the load distribution.

A vehicle comprising:

• a first platform defining fore-aft and lateral planes;
• a plurality of ground contacting elements coupled to the first platform with at least two ground contacting elements disposed in the fore-aft plane such that the first platform is statically stable with respect to tipping in the fore-aft plane;
• a second platform for supporting a rider, the second platform located above the first platform and tiltably coupled in the fore-aft plane thereto;
• a sensor module interposed between the first platform and the second platform, the sensor module generating a weight shift signal indicative of weight shifting by the rider on the second platform based on a tilt of the second platform in at least the fore-aft plane;
• a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;
• and
• a controller for commanding the motorized drive arrangement based on the signal generated by the sensor indicative of the weight shift.

A transporter comprising:

• a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a tilt in the fore-aft plane with respect to the ground and a load distribution, the load distribution determining the tilt in the fore-aft plane;
• a plurality of ground contacting elements coupled to the support platform with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane;
• a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;
• a sensor module for generating a signal indicative of the load distribution of the loaded support platform based upon the tilt in the fore-aft plane of the platform;
• and
• a controller for commanding the motorized drive arrangement based on the load distribution;
• wherein the transporter further includes a user interface, wherein the controller commands the motorized drive arrangement based at least on a signal provided by the user interface;
• and
• wherein the user interface is selected from the group of user interfaces consisting of a joystick and a dial.

A method for controlling a transporter having a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution, the transporter further including a plurality of ground-contacting elements with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane, the transporter further including a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:

• determining a tilt in the fore-aft plane with respect to the ground of the loaded support, the load distribution determining the tilt in the fore-aft plane;
• commanding the motorized drive arrangement based at least on the tilt in the fore-aft plane indicative of the load distribution;
• and
• providing an externally visible indication based on motion commanded.