US Patent 9488987 Controlling roll and pitch of a single-track legged vehicle

A single-track legged vehicle includes a frame having a length corresponding to a forward/backward direction of travel, and a width that is normal to the length. The single-track legged vehicle also includes a plurality of jointed legs attached to the frame, where the plurality of jointed legs are aligned in-line, one behind the other along the length of the frame. Moreover, a control system is in communication with mechanisms that operate the plurality of jointed legs to control the legged vehicle for movement by decoupling the positioning of each of the plurality of jointed legs along a major axis of motion corresponding to the length of the frame from the positioning of each of the plurality of jointed legs along the width of the body, normal to major axis of motion. Yet further, a power source that powers the control system and mechanisms that operate the plurality of jointed legs.