A pushcart configured to perform inverted pendulum control is made likely to negotiate a step. In a first control mode, a main body is maintained to have a constant posture by performing the inverted pendulum control all the time. For example, when a user operates a selector switch, the control mode is changed to a second control mode in which offset torque is added so that an amount of torque applied to a wheel driver unit becomes larger. In this case, because the pushcart moves faster than usual, even if there exists a step that is hard to negotiate in the state of usual inverted pendulum control, the pushcart is likely to negotiate that step.

A pushcart configured to perform inverted pendulum control is made likely to negotiate a step. In a first control mode, a main body is maintained to have a constant posture by performing the inverted pendulum control all the time. For example, when a user operates a selector switch, the control mode is changed to a second control mode in which offset torque is added so that an amount of torque applied to a wheel driver unit becomes larger. In this case, because the pushcart moves faster than usual, even if there exists a step that is hard to negotiate in the state of usual inverted pendulum control, the pushcart is likely to negotiate that step.

A transporter has a chassis, a left wheel positioned at the bottom of the chassis, a right wheel positioned at the bottom of the chassis, a drive train with a left wheel motor to control the left wheel and a right wheel motor to control the right wheel, and a control system to control the left wheel motor and the right wheel motor to implement self-balancing propulsion of the transporter. The improvement is the utilization of a left primary pulley in a left pulley arm assembly forming a first belt assembly to traverse an obstacle and the utilization of a right primary pulley in a right pulley arm assembly forming a second belt assembly to traverse the obstacle.

A transporter has a chassis, a left wheel positioned at the bottom of the chassis, a right wheel positioned at the bottom of the chassis, a drive train with a left wheel motor to control the left wheel and a right wheel motor to control the right wheel, and a control system to control the left wheel motor and the right wheel motor to implement self-balancing propulsion of the transporter. The improvement is the utilization of a left primary pulley in a left pulley arm assembly forming a first belt assembly to traverse an obstacle and the utilization of a right primary pulley in a right pulley arm assembly forming a second belt assembly to traverse the obstacle.

The stair-climbing hand truck is an improved hand truck that includes a back plate with a plurality of secondary wheels that may be used to roll the hand truck along a floor surface or up or down a flight of stairs. The back plate is rigidly affixed to the vertical frame of the hand truck. Moreover, the back plate is acutely oriented behind the vertical frame. The back plate has at least one wheel on opposing sides, which adaptively interact with a ground surface to roll the entire assembly. The vertical frame and the back plate are supported with primary wheels that are located adjacent to where the vertical frame meets a load plate. The primary wheels have a diameter larger than the wheels of the back plate.

The stair-climbing hand truck is an improved hand truck that includes a back plate with a plurality of secondary wheels that may be used to roll the hand truck along a floor surface or up or down a flight of stairs. The back plate is rigidly affixed to the vertical frame of the hand truck. Moreover, the back plate is acutely oriented behind the vertical frame. The back plate has at least one wheel on opposing sides, which adaptively interact with a ground surface to roll the entire assembly. The vertical frame and the back plate are supported with primary wheels that are located adjacent to where the vertical frame meets a load plate. The primary wheels have a diameter larger than the wheels of the back plate.

A carrier with a stair climbing aid includes a carrier including a top surface, a bottom surface, and a front surface and a rear surface between the top surface and the bottom surface, at least one guide bar attached to the rear surface, the guide bar having a first end disposed proximate a corner between the bottom surface and the rear surface and a second end at least as high as stair risers of stairs expected to be climbed, at least one elongated member movably attached to the guide bar, and an arrangement for urging a top end of the elongated, member toward the second end of the guide bar.

Cart apparatuses and related methods are described that are configured to traverse uneven terrain while carrying heavy loads such as game animals or equipment. In one example, the cart has a frame that has a handle structure and at least one cargo support portion. At least one wheel support assembly is configured to pivot around an axle connected to the frame. A first wheel and a second wheel may also be included, with the first and second wheels each being pivotable relative to the at least one wheel support assembly. The first wheel may have a first axis of rotation offset from and parallel to the axle, and the second wheel may have a second axis of rotation offset from and parallel to the axle. These carts and methods may make travel through uneven terrain and wilderness areas faster and more conveniently for outdoorsmen.

A drive assembly is provided and includes a rotatable housing, a motor disposed within and to rotate with the housing, the motor including a drive element and first and second drive shafts, which are independently rotatably drivable by the drive element, a first drivable element coupled to the first drive shaft such that rotation thereof is transmitted to the first drivable element and configured to propel the housing in a first direction during first drive shaft rotation and a second drivable element coupled to the second drive shaft such that rotation thereof is transmitted to the second drivable element and configured to propel the motor in a second direction, which is transversely oriented relative to the first direction, relative to the housing during second drive shaft rotation.

An obstacle traversing wheel assembly can include at least one primary wheel member mounted with a primary axis of rotation and capable of rolling engagement with a supporting surface, and at least one secondary wheel member mounted with a secondary axis of rotation. The secondary wheel member can have a plurality of surface engaging protrusions which enable the wheel assembly to traverse an obstacle by imparting climbing movement to the primary wheel member in response to engagement with the obstacle. The surface engaging protrusions can be defined by rolling wheel members. The obstacle traversing wheel assembly can be incorporated on a wide variety of wheel-bearing devices, such as wheelchairs, personal transportation devices, and intravenous fluid support racks.