Self-stabilizing platform, carrier, or base

Abstract

A two-wheel movable platform, carrier, or base having canted wheels is disclosed. In one embodiment, the two-wheel movable platform, carrier, or base includes adjustable canted wheels in which the angle of the canted wheels is adjustable. In this embodiment, the two-wheel movable platform, carrier, or base includes a pair of wheel assemblies mechanically coupled to a battery housing. Each of the wheel assemblies includes, for example, a mounting plate, a drive motor arranged in a motor housing, a canted wheel that is driven by the drive motor, and an angle-adjusting motor for adjusting the angle of the canted wheel. In another embodiment, the two-wheel movable platform, carrier, or base includes canted wheels that are set at a fixed angle.

1 . A platform, carrier, or base comprising two wheels, wherein each of the two wheels is positioned at an angle θ relative to a plane parallel to at least one surface upon which the platform, carrier, or base is placed, wherein the angle θ for each of the two wheels can be the same or different and has a range from about 0 degrees to about 20 degrees, and wherein the position of the two wheels can be fixed or adjustable. 
     
     
         2 . (canceled) 
     
     
         3 . The platform, carrier, or base of  claim 1 , further comprising one or more power units capable of providing power to the drive motor and the angle-adjusting motor of each wheel assembly. 
     
     
         4 . The platform, carrier, or base of  claim 3 , wherein the one or more power units comprise a battery. 
     
     
         5 . The platform, carrier, or base of  claim 4 , wherein the battery comprises a rechargeable battery. 
     
     
         6 . The platform, carrier, or base of  claim 1 , wherein the drive motor comprises a DC motor. 
     
     
         7 . The platform, carrier, or base of  claim 6 , wherein the DC motor is capable of about 25 rpm. 
     
     
         8 . The platform, carrier, or base of  claim 1 , wherein the angle-adjusting motor comprises a DC stepper motor. 
     
     
         9 . The platform, carrier, or base of  claim 1 , wherein each wheel is selected from the group consisting of a metal wheel, a solid rubber tire, an inflatable tubeless tire, an inflatable tire comprising an inflatable inner tube, and a plastic wheel. 
     
     
         10 . The platform, carrier, or base of  claim 1 , wherein the position of the two wheels is fixed at an angle θ relative to a plane parallel to at least one surface upon which the platform, carrier, or base is placed, wherein the angle θ for each of the two wheels can be the same or different and has a range from about 0 degrees to about 20 degrees. 
     
     
         11 . The platform, carrier, or base of  claim 10 , wherein the angle θ is about 13 degrees. 
     
     
         12 . (canceled)