A drive and control system is disclosed for use on a zero turn vehicle having a pair of drive motors, an operator drive input capable of providing a drive signal corresponding to a desired drive status by an operator and an operator steering input capable of providing a steering signal corresponding to a desired steering of the vehicle. Sensors on the vehicle generate signals corresponding to roll, pitch and yaw. A stability control module includes a processor receiving the steering and drive inputs and provides output signals to the drive motors. Upon initialization of the vehicle, the processor determines initial orientation parameters from the sensors and determines if the input and steering are in neutral. When the drive input is not in neutral, and the steering is in neutral, the processor determines desired pitch, yaw and roll parameters. The processor receives additional sensor signals during operation to monitor pitch and roll of the vehicle and if a measured parameter exceeds the desired parameter, the processor will vary the output signals to the drive motors to provide a heading correction to the vehicle.

Systems and methods for curb detection for parking are disclosed. An example vehicle parking assist system includes a processor and memory. An example program stored in the memory is configured to move a vehicle using a set of maneuvers to park the vehicle in a parking space based on an estimated location of a curb. The example program is also configured to compare a first yaw rate to a reference yaw rate to detect when the vehicle contacts the curb. Additionally, the example program is configured to move the vehicle using an adjusted set of maneuvers based on an actual location of the curb.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

A robot for transporting a biodevice from one place to another place, comprising a body for carrying the biodevice; a driving assembly for driving the body in omnidirectional motion; a sensing unit for sensing at least a position and orientation of the body; and a control unit coupled to the driving assembly and the sensing unit for generating one or more control signals based on at least the sensed position and orientation of the body to drive the driving assembly so as to move the body to a desired place and to arrive with the correct orientation.

A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.

A system, method, and apparatus to provide mobility assistance to disabled persons. The invention includes a self-driving electric cart for transporting a blind or other disabled person along a pre-defined route defined by a path of magnetic markers. The magnetic markers interact through radio waves with a control mechanism on the cart. Utilizing the present invention, the blind person could touch a button on a pre-programmed control screen and ride safely in self-driving carts to any of several specific destinations, such as a job site, grocery store, relative's home, etc.

An angular speed acquisition device acquires the angular speed about a road surface perpendicular axis of a leaning vehicle. The leaning vehicle includes a vehicle body frame capable of leaning in a vehicle left-right direction and a steering shaft which steers at least one of a front wheel unit and a rear wheel unit. An angular speed acquisition device, which is mountable on the leaning vehicle, includes a memory and a processor. The memory stores the relationship between the steering angle, which is a rotation angle about the rotational axis of the steering shaft, the vehicle speed of the leaning vehicle, and the angular speed ω about the road surface perpendicular axis.

A road work machine comprises a frame, a plurality of ground engaging units, a plurality of vertically moveable legs connecting the plurality of ground engaging units to the frame, respectively, a hydraulic system to control heights of the plurality of vertically moveable legs, pressure sensors for sensing hydraulic pressures in the plurality of vertically movable legs, and a controller configured to, in response to signals received from the pressure sensors, generate a control signal. A method for ride control can comprise adjusting an attitude of the machine in response to sensed pressures.

A system and method for leveling a selected surface of a structure. The system includes a handheld mobile device and a platform leveling assembly (PLA) supportable on a structure to be leveled. The PLA includes a PLA controller and a PLA receiver communicatively coupled with the PLA controller. The handheld mobile device includes a tilt sensor configured to sense an attitude of a selected surface on which the handheld mobile device is placed; and a mobile device controller communicatively coupled to the tilt sensor and the transmitter and configured to receive signals from the tilt sensor indicating the attitude of the selected surface on which the handheld mobile device is placed.

A posture estimation device estimates a posture of a movable body based on acceleration information based on a posture change of the movable body and angular velocity information based on the posture change of the movable body. The posture estimation device includes a storage unit that stores the acceleration information, the angular velocity information, and a plurality of posture parameters related to a movement of the movable body, a parameter control unit that selects a selection posture parameter from the plurality of posture parameters, and a posture calculation unit that estimates the posture of the movable body by using the acceleration information, the angular velocity information, and the selection posture parameter.