In this strategy the motor voltages were set to a very low value. This was necessary because if higher values were used, whenever the CG along X crosses the positive or negative threshold the device would accelerate/decelerate so hard that the user would be thrown off balance. If the motor voltage was kept low, the acceleration/deceleration was not noticeable. This strategy was tested with a rider and it was observed that the rider instantaneously felt the device to be intuitive, since the rider could now control the device but leaning forward/backward.

In this strategy the motor voltages were set to a very low value. This was necessary because if higher values were used, whenever the CG along X crosses the positive ...

The first version of the control algorithm was designed as simple as possible. If the CG along X axis crosses a positive threshold, the motor voltage would be set to a fixed value. If it drops below a negative threshold, the motor voltage would be set to a fixed negative value. For CG reading in between this positive and negative threshold, the motor voltage was set to zero. This is depicted in Figure 7.12.

The first version of the control algorithm was designed as simple as possible. If the CG along X axis crosses a positive threshold, the motor voltage would be set to ...