Apparatus and methods for control of a vehicle

A dynamically-balancing vehicle, the vehicle comprising:

• a support;
• at least one wheel;
• a coupling structure having a support portion coupled to the support and a platform portion coupled to the at least one wheel that allows the support portion to move or slide fore and aft with respect to the platform portion;
• a drive coupled to the at least one wheel to dynamically balance the vehicle and provide power to the at least one wheel to propel the vehicle;
• an actuator coupled to the coupling structure to control a position of the support portion relative to the platform portion;
• landing gear coupled to the vehicle, wherein the combination of the a landing gear and the at least one wheel maintain the vehicle in a statically-stable state when the vehicle is operating in the statically-stable state;
• and
• a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, the controller configured for transitioning the vehicle from the statically-stable state to the dynamically-balanced state, wherein the controller is configured to:
• control the drive to command the at least one wheel to hold a zero speed condition and to hold the vehicle in a stationary position with respect to an underlying surface,
• control the actuator to move or slide the position of the support portion relative to the platform portion to alter the vehicle center of gravity position toward a location where the vehicle is capable of balancing with the at least one wheel, and
• initiate dynamic balancing of the vehicle with the at least one wheel when the location of the vehicle center of gravity satisfies a predetermined condition.

A method for transitioning a vehicle from a dynamically-balanced state to a statically-stable state, the vehicle comprising a support, at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the at least one wheel that allows the support portion to move or slide fore and aft with respect to the platform portion, a drive coupled to the at least one wheel to dynamically balance the vehicle and provide power to the at least one wheel to propel the vehicle, an actuator coupled to the coupling structure to control a position of the support portion relative to the platform portion, a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, and a landing gear coupled to the vehicle, wherein the combination of the landing gear and the at least one wheel maintain the vehicle in a statically-stable state when the vehicle is operating in the statically-stable state, the method comprising:

• commanding the actuator to control the position of the support portion relative to the platform portion to hold a zero speed condition and to hold the vehicle in a stationary position with respect to an underlying surface,
• controlling the drive to pitch the vehicle forward while maintaining the vehicle in the dynamically-balanced state, and
• terminating dynamic balancing of the vehicle when a landing configuration condition is satisfied.

A dynamically-balancing vehicle, the vehicle comprising:

• a support;
• at least one wheel;
• a coupling structure having a support portion coupled to the support and a platform portion coupled to the at least one wheel that allows the support portion to move or slide fore and aft with respect to the platform portion;
• a drive coupled to the at least one wheel to dynamically balance the vehicle and provide power to the at least one wheel to propel the vehicle;
• an actuator coupled to the coupling structure to control a position of the support portion relative to the platform portion;
• landing gear coupled to the vehicle, wherein the combination of the a landing gear and the at least one wheel maintain the vehicle in a statically-stable state when the vehicle is operating in statically-stable state;
• and
• a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, the controller configured for transitioning the vehicle from the dynamically-balanced state to the statically-stable state, wherein the controller is configured to:
• command the actuator to control the position of the support portion relative to the platform portion to hold a zero speed condition and to hold the vehicle in a stationary position with respect to an underlying surface,
• control the drive to pitch the vehicle forward while maintaining the vehicle in the dynamically-balanced state, and
• terminate dynamic balancing of the vehicle when a landing configuration condition is satisfied.

A dynamically-balancing vehicle, the vehicle comprising:

• a support for supporting a payload;
• at least a first and second wheel coupled to the support;
• a drive coupled to the at least first and second wheel to dynamically balance the vehicle and provide power to the at least first and second wheel to propel the vehicle;
• a controller coupled to the drive to control the drive;
• the at least first and second wheel further comprises a third wheel coupled to the support and disposed fore or aft of the at least first and second wheels, wherein the combination of the at least first and second wheel and the third wheel maintain the vehicle in a statically-stable state when the vehicle is operating in the statically-stable state;
• and
• a braking system comprising brakes coupled to the at least first and second wheel, and an actuator assembly coupled to the third wheel for engaging and disengaging the brakes, wherein the actuator assembly engages the brakes when the third wheel contacts an underlying surface and disengages the brakes when the third wheel lifts off the underlying surface.

A method for braking a dynamically-balancing vehicle, the vehicle comprising a support for supporting a payload, at least a first and second wheel coupled to the support, a drive coupled to the at least first and second wheel to dynamically balance the vehicle and provide power to the at least first and second wheels to propel the vehicle, a controller coupled to the drive to control the drive, the at least first and second wheel further comprises a third wheel coupled to the support and disposed fore or aft of the at least first and second wheel, wherein the combination of the at least first and second wheel and the third wheel maintain the vehicle in a statically-stable state when the vehicle is operating in the statically-stable state, and a braking system comprising brakes coupled to the at least first and second wheel, and an actuator assembly coupled to the third wheel, the method comprising:

• engaging the brakes with the actuator assembly when the third wheel contacts an
• underlying surface;
• and
• disengaging the brakes with the actuator assembly when the third wheel lifts off the underlying surface.