US Patent 9789976 Carrier having non-orthogonal axes

A carrier configured to carry an imaging device. The carrier may include a frame assembly comprising at least two frames, a combined rotation about the at least two frames controlling an orientation of the imaging device, or compensating the movement or vibration to stabilize the imaging device. The carrier may also include a motor assembly comprising at least two motors, each motor configured to drive a corresponding frame to rotate, wherein at least one angle formed by two frames among the at least two frames is a non-right angle.