A robotic motorcycle may include a chassis, driven wheel assemblies, and a control loop stabilizer. The driven wheel assemblies may each include a wheel and a bevel gear. The wheel may be mounted to an axle for rotation about a drive axis and steering about a substantially vertical steering axis. A steer shaft may connect the axle to a steer assembly that controls rotation of the steer shaft about the steering axis to steer the wheel. A drive shaft may be coupled to a drive assembly that controls rotation of the drive shaft about the steering axis. The bevel gear may couple the other end of the drive shaft to the axle so that rotation of the drive shaft about the steering axis controls rotation of the wheel about the drive axis. The control loop stabilizer may determine parameters for the drive and steer assemblies to balance the motorcycle.

A robotic motorcycle may include a chassis, driven wheel assemblies, and a control loop stabilizer. The driven wheel assemblies may each include a wheel and a bevel gear. The wheel may be mounted to an axle for rotation about a drive axis and steering about a substantially vertical steering axis. A steer shaft may connect the axle to a steer assembly that controls rotation of the steer shaft about the steering axis to steer the wheel. A drive shaft may be coupled to a drive assembly that controls rotation of the drive shaft about the steering axis. The bevel gear may couple the other end of the drive shaft to the axle so that rotation of the drive shaft about the steering axis controls rotation of the wheel about the drive axis. The control loop stabilizer may determine parameters for the drive and steer assemblies to balance the motorcycle.

A controller controls precession of a gyroscope that oscillates about a precession axis perpendicular to a spin axis and a roll axis of the gyroscope. To do so, the controller detects a deviation of a center of the oscillation away from a nominal center. The precession is caused by roll of the gyroscope about the roll axis and imposes decreasing amounts of damping upon the roll as the precession moves away from the nominal center. The controller reduces the deviation of the center of the oscillation by applying an asymmetric amount of braking to the precession when the precession and the deviation are in a same direction relative to when the precession and the deviation are in opposing directions.

An all-terrain vehicle is provided. The all-terrain vehicle includes a vehicle frame unit. A steering mechanism is rotatably mounted to a front side of the vehicle frame unit. Front wheels are rotatable mounted to a lower side of the steering mechanism as being arranged pairwise as a left-side one and a right-side one and are controllable by the steering mechanism. The all-terrain vehicle includes a vehicle cover unit covering a periphery of the vehicle frame unit. The vehicle cover unit includes a front vehicle cover section. An open receiving space is formed between a top side of the front wheels and the front vehicle cover section. An inertial sensor is arranged in the open receiving space. As such, mounting and servicing the inertial sensor can be carried out without removing the front vehicle cover section or other parts, and thus, mounting and servicing of the inertial sensor is made easy.

A personal transportation vehicle. The personal transportation vehicle provides an outer and inner shell having a rotor assembly supported between. The inner shell defines a compartment, which in turn houses an input system that controls an electromagnetic drive system. The electromagnetic drive system includes electromagnets that can generate a magnetic field. A sensor detects motion of the rotor assembly and stabilizes the inner shell. A controller controls states of each electromagnet depending on a position of the rotor assembly and an input from the input system. The electromagnets of the electromagnetic drive system cooperatively cause the personal transportation vehicle to move.

A personal transportation vehicle. The personal transportation vehicle provides an outer and inner shell having a rotor assembly supported between. The inner shell defines a compartment, which in turn houses an input system that controls an electromagnetic drive system. The electromagnetic drive system includes electromagnets that can generate a magnetic field. A sensor detects motion of the rotor assembly and stabilizes the inner shell. A controller controls states of each electromagnet depending on a position of the rotor assembly and an input from the input system. The electromagnets of the electromagnetic drive system cooperatively cause the personal transportation vehicle to move.

Example implementations described herein are directed to a system for lean angle estimation without requiring specialized calibration. In example implementations, the mobile device sensor data can be utilized without any additional specialized data or configuration to estimate the lean angle of a motorcycle. The lean angle is determined based on a determination of a base attitude of a mobile device and a measured attitude of the mobile device.

Some implementations can include a supplemental regenerative braking system comprising a power take-off section to receive mechanical energy, and an electric clutch to engage the power take-off section and transfer mechanical energy from the power take-off section to an output of the electric clutch. The system can also include a roller stop assembly coupled to the output of the electric clutch and constructed to transfer mechanical energy from the output of the electric clutch, and a generator coupled to the roller stop assembly. The system can further include a flywheel coupled to the generator.

Some implementations can include a supplemental regenerative braking system comprising a power take-off section to receive mechanical energy, and an electric clutch to engage the power take-off section and transfer mechanical energy from the power take-off section to an output of the electric clutch. The system can also include a roller stop assembly coupled to the output of the electric clutch and constructed to transfer mechanical energy from the output of the electric clutch, and a generator coupled to the roller stop assembly. The system can further include a flywheel coupled to the generator.

The invention relates to the field of vehicle engineering, and more particularly to gyro-stabilized two-wheeled vehicles, primarily motorcycles. A gyro-stabilizer for a two-wheeled single-track vehicle, preferably a motorcycle, is configured in the form of a gyroscope in a gimbal mount, an outer ring of which is connected by a two-way axial pivot joint to the frame of a vehicle, wherein the axis of said joint is oriented along the longitudinal axis of the vehicle; an inner ring of the gimbal mount is connected by a two-way axial pivot joint to the outer ring; and a spin axis of the gyroscope is connected by a two-way axial pivot joint to the inner ring of the gimbal mount, wherein the axes of all three pivot joints are mutually perpendicular, and wherein the gyro-stabilizer has a means for locking rotation of the outer ring about the axis of the pivot joint between said outer ring and the frame of the vehicle. According to the invention, the gyro-stabilizer is disposed on the swingarm of the rear wheel and has a means for locking rotation of the inner ring about the axis of the pivot joint between said inner ring and the outer ring, wherein each locking means is in the form of a servomotor which allows the forced rotation of the corresponding ring in response to a command from a microcontroller controlling at least the speed and the permissible bank angles of the vehicle, and an additional weight is secured on the axis of the pivot joint between the inner ring and the spin axis.