A method for stabilizing at least one frame part of a forest work unit involves determining a moment applied by a payload of the forest work unit to a frame part to be supported and determining a magnitude and direction of at least one support moment needed at least for stabilizing the frame part on the basis of the moment applied by the payload to the frame part to be supported. An arrangement for stabilizing at least one frame part of a forest work unit comprises means for carrying out said determinations.

A method for stabilizing at least one frame part of a forest work unit involves determining a moment applied by a payload of the forest work unit to a frame part to be supported and determining a magnitude and direction of at least one support moment needed at least for stabilizing the frame part on the basis of the moment applied by the payload to the frame part to be supported. An arrangement for stabilizing at least one frame part of a forest work unit comprises means for carrying out said determinations.

An electric vehicle may comprise a board including deck portions each configured to receive a foot of a rider, and a wheel assembly disposed between the deck portions. A motor assembly may be mounted to the board and configured to propel the electric vehicle using the wheel assembly. At least one orientation sensor may be configured to measure orientation information of the board, and at least one pressure-sensing transducer may be configured to determine rider presence information. A motor controller may be configured to receive the orientation information and the rider presence information, and to cause the motor assembly to propel the electric vehicle based on the orientation and presence information.

An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

A driving module and a mobile robot comprising the same are disclosed. The driving module according to one aspect of the present disclosure includes: a frame supporting a robot body; and a pair of wheel units respectively coupled to left and right areas of the frame to tilt in front and rear directions about a virtual axis line extending in left and right directions, wherein each of the pair of wheel units include: a base member rotatably coupled to the frame about the virtual axis line; a front-wheel rotatably coupled to the front portion of the base member based on the virtual axis line about an axis line parallel to the virtual axis line; a rear-wheel rotatably coupled to the rear portion of the base member based on the virtual axis line about an axis line parallel to the virtual axis line; and a driving unit providing a rotational driving force to at least one of the front-wheel and the rear-wheel.

A driving module and a mobile robot comprising the same are disclosed. The driving module according to one aspect of the present disclosure includes: a frame supporting a robot body; and a pair of wheel units respectively coupled to left and right areas of the frame to tilt in front and rear directions about a virtual axis line extending in left and right directions, wherein each of the pair of wheel units include: a base member rotatably coupled to the frame about the virtual axis line; a front-wheel rotatably coupled to the front portion of the base member based on the virtual axis line about an axis line parallel to the virtual axis line; a rear-wheel rotatably coupled to the rear portion of the base member based on the virtual axis line about an axis line parallel to the virtual axis line; and a driving unit providing a rotational driving force to at least one of the front-wheel and the rear-wheel.

A vehicle with vehicle traction enhancement system providing increased tractive force is disclosed. The traction enhancement system includes a thruster. The thruster includes a prime mover and an air pressure generator. The traction enhancement system further includes an energy storage to provide energy for the prime mover. The thruster is mounted on vehicle chassis structure, body, and/or suspension, substantially vertical to the vehicle to provide an upward thrust to the vehicle to increase the reactive downward normal force to provide the enhanced tractive force.

A vehicle with vehicle traction enhancement system providing increased tractive force is disclosed. The traction enhancement system includes a thruster. The thruster includes a prime mover and an air pressure generator. The traction enhancement system further includes an energy storage to provide energy for the prime mover. The thruster is mounted on vehicle chassis structure, body, and/or suspension, substantially vertical to the vehicle to provide an upward thrust to the vehicle to increase the reactive downward normal force to provide the enhanced tractive force.

A downforce system for a vehicle includes: a restrictor configured to restrict a flow of air into a region that is defined at least in part by the restrictor and a ground surface, a rim disposed on the restrictor and configured to form at least a partial seal with the ground surface; a dedicated pressure source disposed outside the restrictor and connected to the restrictor via an air flow path, the pressure source being configured to generate a pressure differential across the restrictor; and a dust and debris removal system configured to prevent dust and debris from exiting the downforce system via the air flow path. By generating a pressure differential across the restrictor, a downforce which acts on the vehicle may be generated. The downforce may result in an improved grip or traction of the vehicle, which may improve handling and safety of the vehicle.