How does it move? How does it balance?
Scooter senses the lean of the rider with the assistance of two-dimensional inertial navigation system and two accelerometers that sense the angle of the scooter with respect to gravity at 100 times per second. It balances the rider by applying forces to the ground in the direction of the lean. If you lean forward the scooter applies motor torque to the wheel to push it forward, bring you upright and balance you. When you lean back, it applies reverse torque to slow you down and balance you accordingly.