WO2018017051A1

WO2018017051A1 - Transportation device

Info

Publication number: WO2018017051A1
Application number: PCT/US2016/042884
Authority: WO
Inventors: Doan Quang LONG
Original assignee: Ford Global Technologies, Llc
Priority date: 2016-07-19
Filing date: 2016-07-19
Publication date: 2018-01-25

Abstract

A transportation device includes the platform assembly, a first and a second wheel respectively mounted proximate to opposing ends of a bottom surface of the platform assembly. At least one stabilizing actuator is mounted to the platform assembly. Each of the first and the second wheels are so-called barrel, or barrel- shaped, wheels. The barrel-shaped wheels each have a diameter at the ends of the wheels that is smaller than a diameter at the wheel center. In-wheel motors are mounted in each of the first and second wheels.

Description

TRANSPORTATION DEVICE

BACKGROUND

[0001] With growing populations and a shift toward more urbanization, the population density of cities is increasing. Users increasingly ride public transportation systems and walk from public transport stations to final destinations. Moreover, many suburban residents now park their cars in parking structures in city centers and walk to their final destination to avoid traffic congestion of city centers.

BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Figure 1 is a perspective view of the transportation device in a "Bike" mode.

[0003] Figure 2 is a side view of an exemplary transportation device in "Skate" mode.

[0004] Figure 3 is a block diagram showing electrical components of the transportation device of Figure 1.

[0005] Figure 4 shows a flowchart of a method for the transportation device of

Figures 1 and 2.

DETAILED DESCRIPTION

Introduction

[0006] As seen in Figures 1 and 2, a transportation device 100 may be used by a user standing on a top surface 131 of a platform assembly 105 or sitting on a seat 220. The device 100 accordingly may provide a convenience for the user, for example, when the user needs to travel a long distance in a crowded urban area that otherwise would require the user to walk. The device 100 may be placed in a "skate" mode, e.g., a user can ride the device 100 while standing on the platform assembly 105, or the device 100 may be placed in a "bike" mode, e.g., the user rides the device 100 while sitting on the device 100 seat 220 and holding a front body 225 handle bars 235. The possibility of placing the device 100 in two different modes (the skate mode and the bike mode) allows the user to select a preferred mode depending on various parameters, e.g., distance to be travelled, personal preference, etc. The device 100 is equipped with one or more stabilizing actuators 145 to increase maneuverability and safety of the device 100.

Example Device

[0007] The example transportation device 100 includes the platform assembly 105, a first and a second wheel 110 respectively mounted proximate to opposing ends 120 of a bottom surface 130 of the platform assembly 105. At least one stabilizing actuator 145 is mounted to the platform assembly 105. Each of the first and the second wheels 110 are so-called barrel, or barrel- shaped, wheels. The barrel-shaped wheels 110 each have a diameter Dl at the ends of the wheels 110 that is smaller than a diameter D2 at the wheel center, i.e., the diameter varies along a wheel 110 rotational axis A. In-wheel motors 135 are mounted in each of the first and second wheels 110.

[0008] As shown in Figure 1, the platform assembly 105 may have multiple flat or substantially flat plates, e.g., a lower plate 175 and an upper plate 180. The plates 175, 180 can have a substantially rectangular or oval shape. The plates 175, 180 are typically formed of metal, hard plastic, carbon fiber, etc. The plates 175, 180 are mechanically coupled through other components of the transportation device 100 discussed below.

[0009] The lower plate of the platform assembly 105 may have two ends 120, e.g., shorter sides of a rectangular lower plate 175. The lower plate 175 is disposed between the wheels 110 and the upper plate 180. The lower plate 175 has a bottom surface 130, which may be referred to as the bottom surface 130 of the platform assembly 105.

[0010] The upper plate 180 is supported by the stabilizer actuators 145 and the platform assembly 105 lower plate 175. The upper plate 180 has a top surface 131, which may be referred to as the top surface 131 of the platform assembly 105. The user may ride the device 100 while standing on the platform assembly 105 upper plate 180. In order to avoid the foot of the user slipping off the top surface 131, the top surface 131 may include grooves, a rough surface, and or other materials or structures to increase friction between the top surface 131 and a footwear of the user, thereby reducing the risk of slippage.

[0011] The first and second wheels 110 are respectively rotatably mounted proximate to the opposing ends 120 of the lower plate 175 of the platform assembly 105, e.g., are affixed to the bottom surface 130 thereof. A driving force may be provided by in-wheel motors 135 driveably coupled to the first or the second wheel 110, or both. The in-wheel motors 135 may be disposed inside the wheels 110 in a known manner, e.g., in-wheel electric motors. Additionally or alternatively, the motors 135 may be disposed outside the wheels 110 supported by the platform assembly 105 and driveably coupled with the wheels 110, e.g., with metal chains, rubber belt, etc.

[0012] The barrel shape of the wheels 110 can advantageously provide added stability when the device 100 turns or negotiates a curve. The wheels 110 may be formed of rubber, plastic, or any other suitable material. The wheels 110 typically have a substantially same shape and size.

[0013] As shown in Figure 1, the device 100 may include multiple wheel holder assemblies 195 supported by the platform assembly 105 pivotable about an axis A5, A6 transverse to the platform assembly 105. The wheel holder assembly 195 may be rotationally fixed to the respective wheels 110. The wheel holder assemblies 195 are substantially fork shaped components mounted to a wheel 110 on one end and to a steering actuator 200 on the other end. The wheel holder assemblies 195 transfer rotational steering torque of the steering actuators 200 to the wheels 110. The wheel holder assembly 195 is affixed to the steering actuator 200 steering shaft 201. Additionally, the wheel holder assemblies 195 may be rotationally mounted to the platform assembly 105 lower plate 175, with a sleeve, bearing, or any other construction which enables a rotational movement of the wheel holder assembly 195 relative to the platform assembly 105 lower plate 175. A device 100 with two steering actuators 200 can negotiate sharper curves than a device 100 with one steering actuator 200.

[0014] The device 100 may include steering actuators 200 mounted to the platform assembly 105 drivably coupled to a respective wheel holder assembly 195. The steering actuator 200 may be a servomotor or the like providing a steering torque at a steering shaft 201 of the steering actuator 200. The steering torque is transferred to the wheels 110 through the wheel holder assembly 195 to steer the wheels 110 in a desired direction. Alternatively, one or two steering actuators 200 may be included in the device 100.

[0015] As shown in Figure 2, the stabilizing actuators 145 are arranged for adjusting a slope of the platform assembly 105 upper plate 180 relative to the lower plate 175, e.g., with pivoting movements of the platform assembly 105 upper plate 180 relative to the lower plate 175, e.g., by rotating the rotatable drive members 185 about a longitudinal axis A4 of the platform assembly 105 or a lateral axis A3 transverse to the longitudinal axis A4. The stabilizing actuators 145 may be electric motors, e.g., step motors, electromagnetic actuators, or other mechanical actuators such as hydraulic cylinders. The pivoting movements may be along a lateral axis A3 or longitudinal axis A4 of the platform assembly 105, or both. For example, two stabilizing actuators 145a, 145b may be mounted to the platform assembly 105, disposed between the platform assembly 105 upper plate 180 and the lower plate 175. The stabilizing actuators 145 include rotatable drive members 185, e.g., a rotating shaft of a motor, drivable by and extending from the stabilizing actuator 145. Alternatively, the drive members 185 may be linearly movable, e.g., a piston rod of a hydraulic cylinder can be used as a stabilizing actuator 145. In such an example (not shown), the piston rod may be pivotably mounted transverse to the upper plate 180 while pushing or pulling the upper plate 180 about an axis substantially parallel to the lower plate 175.

[0016] The device 100 may include one or more upwardly extending support members 190 mechanically coupled to the rotatable drive member 185. The upwardly extending support members 190 support the upper plate 180 of the platform assembly 105. The support members 190 may be arranged to form a triangle that has a lower vertex 192 of the triangle spaced away from an upper side 191of the triangle. For example, the support member 190 lower vertex 192 can attach to the rotatable drive member 185 of a stabilizing actuator 145 and the support member 190 upper side 191 can support the platform assembly 105 upper plate 180. The support members 190 may have different shapes, e.g., a rod, rectangular solid, etc. and formed of various materials such as metal, hard plastic, carbon fiber, etc.

[0017] As one example shown in Figure 2, the longitudinal stabilizing actuator

145a may be mounted to the lower plate 175 of the platform assembly 105 arranged for movements of the upper plate 180 about the platform assembly 105 lateral axis A3. The support member 190a may be disposed between the stabilizing actuator 145a and the stabilizing actuator 145b while drivably coupled to the longitudinal stabilizing actuator 145a. Alternatively, as another example (not shown), the support members 190a may be mounted directly to the upper plate 180.

[0018] The lateral stabilizing actuator 145b is arranged for pivoting movement of the upper plate 180 of the platform assembly 105 along a longitudinal axis A4 of the platform assembly 105. The lateral stabilizing actuator 145b may be supported by the upwardly extending support members 190a. The lateral stabilizing actuator 145b rotatable drive member 185b may be drivably coupled to the support member 190b, i.e., the lateral stabilizing actuator 145b may be disposed between the support members 190a and 190b. The support members 190b support the platform assembly 105 upper plate 180. One or more guides 210 may be mounted to the support platform 190. [0019] The guides 210, e.g., bearings, sleeves, etc., supported by the support member 190a or the platform assembly 105 lower plate 175, allow a rotational movement of the rotatable drive member 185b, 185b relative to the platform assembly 105. Figure 2 shows only guides 210 rotatably coupled to the lateral stabilizing actuator 145b, but in a similar manner other guides 210 may be rotatably coupled to the longitudinal stabilizing actuator 145a and supported by the platform assembly 105 lower plate 175.

[0020] Alternatively, as another example (not shown), one stabilizing actuator 145 may provide both longitudinal and lateral stabilizing adjustments. Alternatively, the device 100 may have one stabilizing actuator 145 providing only the lateral adjustment, i.e., in such an example, the device 100 does not have any longitudinal adjustment functionality.

[0021] As shown in Figure 1, the device 100 includes the seat 220 and a seat pole

215 having an upper end 250 and a lower end 255. The seat 220 may be mounted to the seat pole 215 upper end 250. The seat pole 215 lower end 255 may be mounted to the platform assembly 105. The seat pole 215 may be pivotably mounted to the platform assembly 105, e.g., to the top surface 131 of the upper plate 180. Alternatively, the seat pole is detachable from the device 100, e.g., from the platform assembly 105 upper plate 180. When the device 100 is in the bike mode, the seat 220 is in an extended position spaced away from the platform assembly 105. When the device 100 is placed in the skate mode, the seat 220 is in a stowed mode. In the stowed mode, the seat 220 and the seat pole 215 are placed adjacent the platform assembly 105, e.g., retracted between the upper plate 180 and the lower plate 175. When the seat pole 215 is detachable from the platform assembly 105 and the device 100 is in the skate mode, then the seat pole 215 and the seat 220 may be detached and stored away from the device 100.

[0022] The device 100 may be used as a bike as shown in Figure 1. The device 100 may include handlebars 235 mounted to an end of a front body 225, e.g., a rod or any other suitably shaped component to support the handlebars 235. A second end of the front body 225 may be releasably attached to the platform assembly 105 upper plate 180. In the bike mode, the device 100 may include the seat 220 attached to an end of a seat pole 215. A second end of the seat pole 215 may be releasably attached to the platform assembly 105 upper plate 180. The user may sit on the seat 220 and hold the handlebars 235 while riding the device 100 in the bike mode. Alternatively, the device 100 may be used as a scooter, by having the front body 225 and the handlebars 235 attached to the device 100 while the seat 220 and the seat pole 215 are removed or stowed away in the platform assembly 105.

[0023] The device 100 may be used in a skate mode. In the skate mode, the front body 225, the handlebars 235, the seat 220, and the seat pole 215 are detached from the platform assembly 105, e.g., stored in a trunk of a vehicle for future use, or stowed in the platform assembly 105. In the skate mode, the user may stand on the device 100 while riding the device 100.

[0024] As shown in Figure 2 and 3, the device 100 may have a processor 160, a transponder 230, and sensors, e.g., velocity sensor 136, position sensors 155, steering sensors 205, and stability sensors 165, e.g., weight sensors. The processor 160 may have a memory, the memory storing instructions executable by the processor 160 to receive data from the transponder 230 and sensors, e.g., velocity sensor 136, position sensor 155, steering sensor 205, and weight sensors 165, and output actuating signals to a drive circuitry 170 electrically connected to the stabilizing actuators 145, wheel motors 135, and steering actuators 200. The processor 160 may be mounted to the platform assembly 105, e.g., the lower plate 175. Moreover, the device 100 may have one or more batteries electrically connected to electrical and/or electronic components, such as the processor 160, sensors and actuators. The battery may be rechargeable and the device 100 may include a charging plug allowing a recharging of the battery at a charging station and/or in a vehicle trunk.

[0025] The velocity sensor 136, e.g., an optoelectronic sensor rotatable coupled to one of the wheel motors 135, may determine an actual velocity of the device 100. The velocity sensor 136 communicates with the processor 160, e.g., through a wired or wireless connection to the processor 160. The velocity sensor 136 may communicate the velocity of the device 100 in a physical unit such as kilometer per hour. Alternatively, the velocity sensor 136 may be a Global Positioning System (GPS) sensor mounted to, e.g., the platform assembly 105, measuring the velocity of the device 100.

[0026] The position sensors 155 may determine a rotational position or angle of the rotatable drive members 185 relative to a reference, e.g., the platform assembly 105 lower plate 175. The position sensors 155 may be a rotational sensor, e.g., an optical counter, mounted to, e.g., the stabilizing actuator 145 and drivably coupled to the rotatable drive member 185. Alternatively or additionally, position sensors 155 can include a distance measuring sensor, e.g., an optical or magnetic sensor, attached to, e.g., the upper plate 180 and measuring a variable distance to, e.g., the lower pate 175.

[0027] The stability sensors 165, hereafter referred to as the weight sensors 165, e.g., strain gauge load cells, may measure an amount of weight applied to a wheel 110. To measure an amount of weight force applied on a wheel 110, the weight sensor 165 may be disposed between the steering actuator 200 and the platform assembly 105 lower plate 175 while the steering actuator 200 is mechanically coupled to the wheel 110 through mechanical connection of steering actuator 200 steering shaft 201 to the wheel holder assembly 195.

[0028] The steering sensors 205, e.g., rotational sensors such as optoelectronic sensors, may be mounted to, e.g., the steering actuator 200 and drivably coupled to the steering actuator 200 steering shaft 201 to measure a steering angle of the wheel 110 relative to a reference, e.g., the longitudinal axis A4. Alternatively or additionally, the steering sensors 205 may identify an actual turn radius of the device 100, i.e., the radius of a curve on which the device 100 moves.

[0029] The drive circuitry 170 may include power electronic circuitry, e.g., solid state electronic components such as MOSFET (metal-oxide-semiconductor field-effect transistor), to control the stabilizing actuators 145, wheel motors 135, and steering actuators 200. The drive circuitry may receive a control signal from the processor 160 and output an electrical signal, e.g., a pulse width modulated (PWM) signal to an actuator, in accordance with the received control signal.

[0030] The transponder 230 may be implemented via circuits, chips, or other electronic components that can allow the processor 160 to communicate with the transponder 230, e.g., a smartphone or the like could be used to provide user target values to the processor 160 via the transponder 230. The processor 160 may receive data indicating user's target velocity, target steering angle, etc. from the transponder 230. Alternatively or additionally, the processor 160 may receive a target turn radius from the transponder 230. The target turn radius refers to the radius of the curve on which the device 100 is expected to move. The transponder 230 may be attached to the handlebar 205 and include inputs, e.g., buttons, and outputs, e.g., display device or speaker, to communicate with the user.

Process Description

[0031] Figure 4 illustrates an example process 400 for operating the device 100.

The memory of the processor 160 may include instructions to execute the process 400. [0032] The process begins with a block 405, in which the processor 160 receives user target values. The user target values may include an acceleration or deceleration value, e.g., a target velocity between 0 and a maximum velocity specific to the device 100, a target steering angle, e.g., a positive angle for steering to a right direction and a negative angle for steering to a left direction, or a target turn radius. The processor 160 may receive the user target values via the transponder 230, e.g., via a wireless communication protocol, or via any other type of suitable input element, e.g., a touchscreen or the like mounted to the handlebars 235 and wired to the processor 160.

[0033] Next, in a block 410, the processor 160 receives data from the device 100 sensors, e.g., one or more of the velocity sensor 136, the weight sensors 165, the position sensors 155, and the steering sensors 205. The velocity sensor 136 provides the velocity of the device 100. The weight sensors 165 provide the weight data, e.g., weight applied to each of a first and a second wheel 110 of the device 100. The position sensors 155 provide rotational position data of the stabilizing actuators 145 driving members 185. The steering sensor(s) 205 provide actual steering angle(s) of the wheels 110 relative to the platform assembly 105, the actual turn radius of the device 100, or both.

[0034] Next, in a block 415, the processor 160 calculates control values according to the user target values received in the block 405 and the sensor data received in the block 410. The calculated control values are associated with device 100 actuators, e.g., the wheel motors 110, the stabilizing actuators 145 and the wheel motors 135. The term "control value" herein means a value, e.g., a duty cycle percentage of a pulse width modulated signal (PWM), that a control block, e.g., block 415, outputs to an actuator, e.g., the wheel motor 100, to minimize a difference between the actual speed of the device and the target speed. In other words, the control values may include one or more control values specific to each of a first wheel 110 motor 135, a second wheel 110 motor 135, the longitudinal stabilizing actuator 145a, and the lateral stabilizing actuator 145b.

[0035] In one example of block 415, the processor 160 may calculate a control value for the wheel motor(s) 110 in accordance with the target velocity and the actual velocity measured by the velocity sensor 136. The control value, e.g., a duty cycle percentage of a PWM signal, for the wheel motor(s) 110 at the block 415 may be calculated based on a control strategy in a known manner such as Proportional Integral Derivative (PID) to minimize a difference between the target velocity and the actual velocity. [0036] In a second example of block 415, the processor 160 may calculate a control value for the steering actuators 200 in accordance with the target steering angle and the actual steering angle value(s) received from the steering sensor(s) 205. Either one or two wheels 110 of the device 100 can be steerable. When two wheels 110 are steerable, either one or two steering sensors 205 may be included in the device 100, e.g., one steering sensor 205 coupled to each steering actuator 200 steering shaft 201. When two steering sensors 205 are included in the device 100, a steering angle may be calculated based on individual actual steering angle values received from each of the steering sensors 205, e.g., average value of the two values. The block 415 adjusts the control value for the steering actuator(s) 200 to minimize a difference between the target steering angle and the actual steering angle. Range, unit, and other attributes of the control value may depend at least on the type of the steering actuator 200 and a control technique used in block 415 calculations. For example, a steering actuator control value may be a direct current value, e.g., lAmp, when the steering actuator 200 includes a direct current (DC) motor and the block 415 steers the wheels 110 by adjusting the torque applied by the steering actuator 200 to the wheel holder assembly 195. Alternatively, the processor 160 may calculate the control value for the steering actuators 200 in accordance with the target turn radius and the actual turn radius, i.e., minimizing the difference between the target turn radius and the actual turn radius.

[0037] As a third example block 415, the processor 160 may calculate one or more control values for the longitudinal stabilizing actuator 145a, e.g., an angle and a direction for rotating the upper plate 180 about the lateral axis A3, in accordance with the target velocity, the actual velocity, the weight data, and a target stability. Alternatively, a longitudinal stabilizing actuator control value may be a torque value, e.g., 3Nm for a DC motor, a number of steps and direction of movement for a step motor, and/or a displacement length for a hydraulic cylinder. The block 415 may adjust the control value for the steering actuator 145a to maintain stability of the user, e.g., sitting on the seat 220 or standing on the platform assembly 105 upper plate 180.

[0038] When user's weight shifts longitudinally toward one of the platform assembly 105 ends 120, i.e., more weight is applied to a first wheel 110 compared to a second wheel 110, e.g., during an acceleration or deceleration, then an instability for the user along the longitudinal axis A4 may be caused. The instability along the longitudinal axis A4 means that the user may fall behind or in front of the device 100 along the longitudinal axis A4, or may feel unstable along the longitudinal axis A4, e.g., about to fall down in front or behind the device 100 along the longitudinal axis A4. The block 415 may calculate a control value for the longitudinal stabilizing actuator 145a to improve the user's stability along the longitudinal axis A4 by pivoting the upper plate 180 about the lateral axis A3. The calculated control value, e.g., an angle and direction for rotating the upper plate 180 about the lateral axis A3, may minimize the weight difference between the two ends 120 according to the target stability for longitudinal stabilization, e.g., keeping a difference of weight measured by weight sensors 165 at the two wheels 110 of the device 100 below a threshold such as a percentage limit like 5%. In other words, the actual weight applied to one wheel 110 should not exceed 105% of the weight applied to the other wheel 110. A rotation of the upper plate 180 about the axis A3 may initiate a move of user's center of gravity away from the end 120 with higher weight applied toward the other end 120, therefore, causing to shift weight away from one end 10 to the other end 120. Such controlled pivoting of the upper plate 180 about the axis A3 is referred to as longitudinal stabilization. The target stability may include other definitions or thresholds, e.g., a threshold for a rate of change in weight data received from the weight sensors 165.

[0039] With respect to the third example, the control value for the longitudinal stabilizing actuator 145a may further depend on the actual position of the longitudinal stabilizing actuator 145a drive member 185a, i.e., the control value for moving the upper plate 180 may be at least partially dependent on the actual position of the drive member 185a.

[0040] As a fourth example, the processor 160 may calculate a control value for the lateral stabilizing actuator 145b in accordance with the actual velocity, the target turn radius, the actual turn radius, and the weight data. The block 415 may adjust the control value for the steering actuator 145b to compensate for a centrifugal force applied to the user, e.g., while negotiating a curve, and therefore, increase the user's stability along a lateral axis A3 of the device. As discussed above, the control value for a stabilizing actuator 145 may be a torque value, e.g., 3Nm for a DC motor, a number of steps and direction of movement for a step motor, or a displacement length for a hydraulic cylinder.

[0041] When user rides the device 100 while negotiating a curve, a centrifugal force may be applied to the user. An amount of such centrifugal force may depend on various parameters, e.g., velocity of the device 100, the actual turn radius, weight of the user, etc. A tilting of user's body toward a center of curve on which the device 100 moves may increase the user's stability with respect to the centrifugal force pushing the user away from the center of the curve along the device 100 lateral axis A3. In other words, tilting the user's body toward the center of the curve create a force vector in an opposite direction compared to the centrifugal force. The block 415 may calculate a control value for the lateral stabilizing actuator 145b to compensate the centrifugal force by pivoting the upper plate 180 about the longitudinal axis A4. The calculated control value may compensate at least a portion of the centrifugal force to meet the target stability, e.g., maintaining a net force, i.e., centrifugal force compensated by the tilting move of the upper plate 180, applied to the user's body along the lateral axis A3 not greater than a threshold, e.g., 50 Newton. Such controlled pivoting of the upper plate 180 about the longitudinal axis A4 is referred to as longitudinal stabilization.

[0042] With respect to the fourth example, the control value for the lateral stabilizing actuator 145b may further depend on the actual position of the lateral stabilizing actuator 145b drive member 185b.

[0043] Further, the block 415, may include calculation of control values with respect to multiple of the examples discussed above, e.g., the block 415 may calculate control values for both longitudinal and lateral stabilization of the device 100. Various control techniques may be used to implement such calculation of control values, e.g., a state space control.

[0044] Next, in a block 420, the processor 160 outputs the calculated control values to the drive circuitry 170. The drive circuitry 170 outputs electrical signal to the actuators, i.e., the wheel motors 135, the stabilizing actuators 145, and the steering actuators 200 in accordance with the received control signals, from the processor 160, associated with each of the actuators.

[0045] Following the block 420, the process 400 ends.

[0046] The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.

Claims

CLAIMS What is claimed is:

1. A transportation device, comprising:

a platform assembly;

first and second wheels respectively mounted to opposing ends of a bottom surface of the platform assembly, each of the first and second wheels having a diameter that varies with respect to a rotational axis;

first and second wheel motors respectively mounted in each of the first wheel and the second wheel;

at least one stabilizing actuator mounted to the platform; and

a processor communicatively coupled to respective drive circuitry for each of the motors and programmed to control each of the motors.

2. The transportation device of claim 1, further comprising a plurality of stability sensors, wherein the processor is further programmed to receive data from the stability sensors and to control the at least one stabilizing actuator based on the stability sensor data.

3. The transportation device of claim 1, wherein the processor is programmed to control each of the first and second motors to maintain a target velocity of the transportation device.

4. The transportation device of claim 1, wherein the platform assembly includes a lower plate and an upper plate, the at least one stabilizing actuator is disposed between the upper plate and the lower platform.

5. The transportation device of claim 4, wherein the at least one stabilizing actuator includes a longitudinal stabilizing actuator mounted to the platform assembly.

6. The transportation device of claim 5 wherein the at least one stabilizing motor further includes a longitudinal stabilizing actuator, the transportation device further comprising: a rotatable drive member drivable by and extending from the longitudinal stabilizing actuator; and

a plurality of upwardly extending support members mechanically coupled to the rotatable drive member and supporting the upper plate of the platform assembly;

wherein the longitudinal stabilizing actuator is arranged for pivoting movement of the upper plate of the platform assembly along a lateral axis thereof.

7. The transportation device of claim 5, wherein the at least one stabilizing motor further includes a lateral stabilizing actuator, the transportation device further comprising: a second rotatable drive member drivable by and extending from the lateral stabilizing actuator; and

a plurality of upwardly extending support members mechanically coupled to the second rotatable drive member and supporting the upper plate of the platform assembly,

wherein the lateral stabilizing actuator is arranged for pivoting movement of the upper plate of the platform assembly along a longitudinal axis thereof.

8. The transportation device of claim 1, wherein the at least one stabilizing actuator includes an electric motor.

9. The transportation device of claim 1, wherein at least one of the wheels is pivotable about an axis transverse to the platform assembly.

10. The transportation device of claim 1, further comprising:

a wheel holder assembly supported by the platform assembly 105 pivotable about an axis transverse to the platform assembly 105, the wheel holder assembly rotationally fixed to at least one of the wheels; and a steering actuator mounted to the platform assembly 105 drivably coupled to the wheel holder assembly.

11. The transportation device of claim 10, wherein the steering actuator includes a steering sensor.

12. The transportation device of claim 1, further comprising a front body having a lower end pivotably mounted to the platform assembly and an upper end, the front body having an extended mode and a stowed mode, the upper end of the front body in the extended mode being spaced away from the platform assembly, the upper end of the front body in the stowed mode being adjacent the platform assembly.

13. The transportation device of claim 1, further comprising a seat pole having a lower end pivotably mounted to the platform assembly.

14. The transportation device of claim 2, wherein the plurality of stability sensors include at least a weight sensor.

15. The transportation device of claim 6, wherein the processor is further programmed to: actuate the longitudinal stabilizing actuator based at least partially on a target velocity, an actual velocity, and a target stability.

16. The transportation device of claim 15, wherein actuating the longitudinal stabilizing actuator further depends on an identified position of the rotatable drive member.

17. The transportation device of claim 7, wherein the processor is further programmed to: actuate the lateral stabilizing actuator based at least partially on a detected actual turn radius, a target turn radius, and a target stability.

18. The transportation device of claim 17, wherein actuating the lateral stabilizing actuator further depends on a position of the second rotatable drive member.

19. The transportation device of claim 11, wherein the processor is further programmed to control the steering actuator according to at least a steering angle data received from the steering sensor.