Easy build Self Balancing Seg-robot-skateboard unit.wmv

Plan: Lowest possible cost easy-build self balancing segway / robot / skateboard base unit.
Build sequence is on Instructables.com:


Why? : I took my self-balancing skateboard to a recent Maker Faire and was inundated by people of all ages wanting a ride and teenagers wanting guidance on how to build one. The machine I built was very expensive and not easy to construct as had evolved over a coupe of years. The plan this time around is to see how simple and low cost I can make this tech, so much less daunting challenge, but still capable of carrying an adult. Using KISS (keep it simple stupid) design ethos!
– Arduino microcontroller powered by its own 9V battery
– Electric scooter motors from ebay
– Commercial motor controller (no point skimping on this)
– Cheapest possible Sparkfun IMU module
– Electric scooter wheels with axles and sprockets already sorted out for you.
– Wheels small enough to go underneath deck rather than sticking out of the sides.
– NO welding required just bolts together.
– Fit your own skateboard deck or robot body.
– Use whatever batteries you have or can afford.
– Simple hand controller with motor cutout, steer-left, steer-right and balance-point-fine-tune switches.
– If space the wheels further apart can use to make a small segway style machine.
– Has second gyro in IMU to resist sudden spins if one wheel hits small obstruction (easier, cheaper, more abuse resistant than wheel encoders).
– Approx £300 GBP in parts but £ is weak at present, woud be much less in the US.
This would be a great school technology project so the idea is that it could be built by a teenager interested in electronics, with some practical help. This one took one (very long) day to build and will carry my weight (same motors as in my original self-balancing skateboard).

Duration : 0:4:29

[youtube engi16bLJe0]

10 thoughts on “Easy build Self Balancing Seg-robot-skateboard unit.wmv

  1. I’m trying to build …
    I’m trying to build a toy prototype before building the final actual scale one. The problem I have is that I am not sure that the H bridge is giving an accurate velocity control. It is to say, H bridge just transforms a PWD signal into a voltage signal, but there is no feedback between the actual rotation rate and the wanted rotation rate. I just wanted to know if this is an issue or I can just ignore this error.

  2. @paucarre
    My …

    My first one had one motor and a large go kart wheel, turned gradually by leaning on one edge of the wheel.
    Later ones, including this design have two wheels as you can now turn at fast and slow speeds, and even when stationary, much more practical when people i.e. pedestrians are around.
    See my other videos.
    It is a PID control algorithm – a “combination filter” rather than the much more complex “kalman” filter.

  3. …and I suppose …
    …and I suppose you used two engines for stability reasons?
    do you used the classical inverted pendulum PID controller?

  4. …and I suppose …
    …and I suppose you used two engines for stability reasons?
    do you used the classical inverted pendulum PID controller?

  5. @paucarre dude, the …
    @paucarre dude, the engines from the electric scooter e100. brainiac!

  6. Dude… make a …
    Dude… make a killer board and put seagways to rest!


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