US Patent 11036228 Method and system for stabilizing a payload

The present disclosure provides systems, methods, and devices related to the control and operation of a carrier for supporting a payload. In one aspect, a carrier may include: a stator configured to be coupled to a base support, wherein the stator include a spherical surface; and a frame operably coupled to the stator via a plurality of piezoelectric actuators, wherein the frame is configured to rotate relative to the stator about one or more rotational axes, and wherein the frame is configured to support a plurality of payloads in a manner that substantially balances a weight of the plurality of payloads relative to the stator.