A non-backdrivable passive balancing system for a single-axle dynamically balanced robotic device includes a body that includes a distal end and a proximal end, a controller module, and an actuator communicatively coupled to the controller module of the single-axle dynamically balanced robotic device. The actuator receives an engagement signal from the controller module, the engagement signal corresponding to an indication that the dynamically balanced robotic device is stationary, and the actuator causes the linkage to move the body from a disengaged position to an engaged position such that the distal end of the body contacts a ground surface and supports the dynamically balanced robotic device in a substantially upright position.

In an aspect, a vehicle is provided that includes a frame, a wheel, first and second footrests, a motor and a control system. The wheel further has a longitudinal radius and a lateral radius that is within 10% of the longitudinal radius. Each footrest has a foot support surface and is movable between a folded position, and a deployed position for supporting a foot of a user. The vehicle possesses a generally spherical outer shape. The center of mass is less than a quarter of the longitudinal radius of curvature away from the geometric center of the wheel. The motor drives rotation of the wheel relative to the frame. The control system controls operation of the motor based at least in part on an orientation of the self-balancing vehicle.

A control system for a tiltable vehicle may include a motor controller configured to respond to backward or reverse operation of the vehicle by hindering a responsiveness of the control system (e.g., proportionally) and/or eventually disengaging a drive motor of the vehicle. Accordingly, a user may intuitively and safely dismount the vehicle by selectively commanding reverse operation. In some examples, the backward direction may be user-defined.

An embodiment apparatus for controlling charging of a mobility includes a sensor configured to measure a battery voltage of a battery of the mobility to which a reference current is input and a controller configured to determine a rated voltage of the battery according to whether an amount of change in the battery voltage exceeds a reference value and to set a charging voltage corresponding to the rated voltage based on a determination that the battery voltage exceeds a first threshold value and is less than a second threshold value.

A self-propelled, one-wheeled vehicle may include a suspension system configured to provide arcuate, generally vertical motion of a board relative to an axle of a central wheel assembly when the vehicle encounters obstacles and bumps on a riding surface. Illustrative suspension systems may include a shock absorber and a swingarm that couple the wheel assembly to the board.

A self-propelled, one-wheeled vehicle may include a suspension system configured to provide arcuate, generally vertical motion of a board relative to an axle of a central wheel assembly when the vehicle encounters obstacles and bumps on a riding surface. Illustrative suspension systems may include a shock absorber and a swingarm that couple the wheel assembly to the board.

A multiplexed battery set includes a plurality of battery units connected in series in such a manner that the battery units are bendable at connection positions, each of which is between each adjacent two of the battery units. Each battery unit includes a plurality of contacts. The battery set further includes a plurality of electrical wires respectively electrically connected between the contacts of each adjacent two battery units to electrically connect the battery units in series. The electrical wires has a length capable for keeping battery units in an electrically connected status when each adjacent two battery units are bent by an external force.

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 system includes a storage apparatus that includes a charging port, a handling device, and a processor programmed to output a signal to the handling device to select the storage apparatus for a transportation device, place the transportation device in the storage apparatus, and then activate the charging port to charge the transportation device.

A control system for a tiltable vehicle may include a motor controller configured to respond to backward or reverse operation of the vehicle by hindering a responsiveness of the control system (e.g., proportionally) and/or eventually disengaging a drive motor of the vehicle. Accordingly, a user may intuitively and safely dismount the vehicle by selectively commanding reverse operation. In some examples, the backward direction may be user-defined.