公开(公告)号：DE60023273D1

公开(公告)日：2006-03-02

申请号：DE60023273

申请日：2000-03-14

Applicant: DEKA PRODUCTS LP

Inventor： MORRELL B ,  KERWIN M ,  KAMEN DEAN L ,  AMBROGI ROBERT ,  DUGGAN ROBERT J STRAFFORD ,  HEINZMANN RICHARD K ,  KEY BRIAN R

IPC: B62B5/02 ,  A61G5/04 ,  A61G5/06 ,  A61G5/10 ,  A61G5/12 ,  A61G5/14 ,  B60K7/00 ,  B62D57/00 ,  G05B13/04 ,  G05D1/08

Abstract: A method for operating a device ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles.

公开(公告)号：DE60029568T2

公开(公告)日：2007-08-09

申请号：DE60029568

申请日：2000-03-14

Applicant: DEKA PRODUCTS LP

Inventor： KAMEN L ,  AMBROGI R ,  HEINZMANN DAVID ,  HEINZMANN KURT ,  HERR DAVID ,  MORRELL B

IPC: A61G5/06 ,  B62K3/00 ,  A61G5/04 ,  B62B3/00 ,  B62B5/02 ,  B62B5/06 ,  G05B13/04 ,  G05D1/08 ,  G05G9/047

Abstract: A user input for controlling acceleration of a vehicle, the user input comprising: a movable member (8) capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user.

公开(公告)号：DE60029568D1

公开(公告)日：2006-09-07

申请号：DE60029568

申请日：2000-03-14

Applicant: DEKA PRODUCTS LP

Inventor： KAMEN L ,  AMBROGI R ,  HEINZMANN DAVID ,  HEINZMANN KURT ,  HERR DAVID ,  MORRELL B

IPC: A61G5/06 ,  B62K3/00 ,  A61G5/04 ,  B62B3/00 ,  B62B5/02 ,  B62B5/06 ,  G05B13/04 ,  G05D1/08 ,  G05G9/047

Abstract: A user input for controlling acceleration of a vehicle, the user input comprising: a movable member (8) capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user.

公开(公告)号：DE60023879D1

公开(公告)日：2005-12-15

申请号：DE60023879

申请日：2000-03-14

Applicant: DEKA PRODUCTS LP

Inventor： MORRELL B

IPC: G05B13/02 ,  A61G5/06 ,  B60L11/18 ,  B60L15/20 ,  H02P5/00

Abstract: A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so that the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.

公开(公告)号：DE69835606T2

公开(公告)日：2006-12-07

申请号：DE69835606

申请日：1998-10-08

Applicant: DEKA PRODUCTS LP

Inventor： KAMEN L ,  AMBROGI ROBERT ,  MORRELL B ,  LANGENFELD C ,  SMITH B ,  STEENSON H

IPC: A61G5/06 ,  B60R21/02 ,  A61G5/04

公开(公告)号：DE60023879T2

公开(公告)日：2006-06-14

申请号：DE60023879

申请日：2000-03-14

Applicant: DEKA PRODUCTS LP

Inventor： MORRELL B

IPC: B60L11/18 ,  G05B13/02 ,  A61G5/06 ,  B60L15/20 ,  H02P5/00

Abstract: A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so that the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.

公开(公告)号：DE69835606D1

公开(公告)日：2006-09-28

申请号：DE69835606

申请日：1998-10-08

Applicant: DEKA PRODUCTS LP

Inventor： KAMEN L ,  AMBROGI ROBERT ,  MORRELL B ,  LANGENFELD C ,  SMITH B ,  STEENSON H

IPC: A61G5/06 ,  B60R21/02 ,  A61G5/04

公开(公告)号：DE60023273T2

公开(公告)日：2006-06-22

申请号：DE60023273

申请日：2000-03-14

Applicant: DEKA PRODUCTS LP

Inventor： MORRELL B ,  KERWIN M ,  KAMEN DEAN L ,  AMBROGI ROBERT ,  HEINZMANN RICHARD K ,  KEY BRIAN R

IPC: A61G5/06 ,  B62B5/02 ,  A61G5/04 ,  A61G5/10 ,  A61G5/12 ,  A61G5/14 ,  B60K7/00 ,  B62D57/00 ,  G05B13/04 ,  G05D1/08

Abstract: A method for operating a device ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles.