Figure 1 pdf(click) shows the fundamental stabilizing system in the now being issued patent.  In this view it shows how articulating action about a near vertical axis and a horizontal axis are enabled.  Note that the horizontal axis is offset substantially from the near vertical axis.

 Figure 2 pdf(click) shows the separated, three parts of the articulated vehicle. 

Figure 5 pdf (click) is from a pending patent.  It shows a high efficiency aerodynamic version of the original patent.  The axes are similarly placed but the cabin is arranged to act as the offset joint structure from the earlier version.  In either case the importance of keeping downward force on the middle wheels must be emphasized.