06827163 is referenced by 44 patents and cites 37 patents.

A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Methods of controlling the transporter are described that allow the dynamic behavior of the transporter to more closely match preferences of a rider. These methods include providing preferential responsiveness to change in pitch angles and pitch rates.

Title
Non-linear control of a balancing vehicle
Application Number
10/460053
Publication Number
6827163 (B2)
Application Date
June 12, 2003
Publication Date
December 7, 2004
Inventor
Jonathan B Pompa
La Jolla
CA, US
John B Morrell
Bedford
NH, US
John M Kerwin
Manchester
NH, US
J Douglas Field
Bedford
NH, US
Burl Amsbury
Boulder
CO, US
Agent
Bromberg & Sunstein
US
Assignee
DEKA Products Partnership
NH, US
IPC
B62D 57/00
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