One Wheeled

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Self-balancing skateboard / scooter projects: One and two wheeled.

John Dingley email: self-

[email protected]

Recent updates:

October 2010: Link (15) shows myattempt to give twin wheeler more "feel"

by making it steer using pressuresensors under the griptapeMarch 2011New version of economybuild arduino twin wheel boardTook to Maker Faire UK 2011. So muchRF noise my wireless control did notwork so had to revert to cable handcontroller.March 19th 2011: Have just appearedon the New Scientist TV channel!http://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlNext project May 2011: Building aUnicycle....see link 17 on left menuMay 24th 2011: Some video ofme talking to Jon Bentley with theskateboard at the 2011 UK Makerfairehas just appeared on the "GadgetShow"Click hereJune 24th 2011: Building new twin

wheeled compact board with properpneumatic tyres. Uses lessons learnedfrom all previous machines.

(Brown County Democrat, December 28, 1900.) -

The "Footomobile" of the future!
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protected]:[email protected]:[email protected]:[email protected]://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlhttp://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlhttp://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlhttp://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlhttp://fwd.channel5.com/gadget-show/videos/feature/maker-fairehttp://fwd.channel5.com/gadget-show/videos/feature/maker-fairehttp://fwd.channel5.com/gadget-show/videos/feature/maker-fairehttp://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/34rear.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/One%20wheeled%20self%20balancing%203.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/Largesprocket4.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/sideViewArduSkate.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/6.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/self-balancing%20skateboard%205.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/34rear.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/One%20wheeled%20self%20balancing%203.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/Largesprocket4.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/sideViewArduSkate.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/6.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/self-balancing%20skateboard%205.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/34rear.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/One%20wheeled%20self%20balancing%203.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/Largesprocket4.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/sideViewArduSkate.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/6.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/self-balancing%20skateboard%205.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/34rear.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/One%20wheeled%20self%20balancing%203.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/Largesprocket4.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/sideViewArduSkate.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/6.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/self-balancing%20skateboard%205.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/34rear.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/One%20wheeled%20self%20balancing%203.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/Largesprocket4.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/sideViewArduSkate.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/6.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/self-balancing%20skateboard%205.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/34rear.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/One%20wheeled%20self%20balancing%203.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/Largesprocket4.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/sideViewArduSkate.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/6.jpg?attredirects=0http://sites.google.com/site/onewheeledselfbalancing/Home/self-balancing%20skateboard%205.jpg?attredirects=0http://fwd.channel5.com/gadget-show/videos/feature/maker-fairehttp://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlhttp://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlhttp://www.newscientist.com/blogs/nstv/2011/03/make-your-own-self-balancing-skateboard.htmlmailto:[email protected]:[email 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YouTube Video

MakerFaire March 2011 video above

showing twin wheeler in action. This

machine has solid polypropylene wheels

and batteries in the deck. Works well, not

so good on rough surfaces though.

YouTube Video

This one has pneumatic tyres, axle line runs

through centre of the deck, steered using

pressure sensors under right foot and can be

run without any form of hand controller (at

last). Will update this video with a better

one soon.

LATEST PROJECT

TWIN WHEELED

BOARD WITH PNEUMATIC

TYRES.

TAKING THIS TO MINI-

MAKERFAIRE BRIGHTON UK 3rd

September 2011

ClickHEREfor more information

See new video above taken at the mini-

makerfaire

Previous twin wheeler has e-bike battery in

deck. Could ride this all day and it would

still show 3/4 battery charge, therefore

had excessive battery capacity.

Objectives / improvements for this machine

are to make it more like the "i-slide"

concept but better. Uses all lessons learned

from previous machines:

- Smaller NiMH batteries from RC cars. Ifneed more range - exchange batteries.

- Batteries easy to remove and swap over.

- Must have pneumatic tyres for better ride

on non-smooth surfaces.

With thanks to the inspirational webpages of Ben

Smithers, Trevor Blackwell and many others (see links

page on left hand sidebar).

Why do this?- Initially to teach myself microcontroller

programming and for the sheer technical challenge of

it.

- Most things have been invented. Although the self-

balancing skateboard concept has also already been

invented, developing an intuitive, easy to ride,

compact, practical machine is a really tough challenge

requiring good old fashioned building and practical

experimentation. Cannot just do all this on a computer

design package.

- If you look at the truth of "innovation" there arerarely Eureka moments. Usually they involve reading

all around a subject, long periods of experimentation

and slow incremental development into a workable
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- Extremely compact design for all the

mechanicals

- Symmetrical profile, could ride it either

way up. This makes frame much harder to

design.

- Integrated carry handle

- Reliable hard wired Nunchuck steering /

trim control.

No way I could do this bolting metal

sections together. This one is going to need

a LOT of cutting and welding.

Green on/off switch visible protected by the

carry handle from damage and from being

accidentally knocked into OFF position.

device. This is what I am doing here. For example

mp3 players existed long before the iPod came out.

Edison made the first practical light bulb, but not the

first ever light bulb.

- My first effort in 2008 was big and clumsy but it

worked. Have been improving the designs ever since!

24/6/2011

The i-slide. This was a computer design study never

built as working machine as far as I know

My aim is to get to a machine about this size but twin-wheeled, a tricky packaging challenge.

This project works and balances. Motor covers

above and below deck still need to be made. Whole

frame needs paint and tidying but all the main

design elements work.

Motors have been brought in really tight into centre of

frame. This means they can be in same horizontal

plane as the wheels, they won't hit ground when tipped

and in theory at least the board could be ridden either

way up, i.e. board is symmetrical when seen from

side, the wheels have not just been bolted up from

underneath.
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Very short chains and motors mounted very

close to centre axle line. Getting all this

geometry just right was really tricky. Chain

clearances are about 2mm in places.

- Pneumatic tyre/wheel/sprocket

combination is from a Razor E200 electric

scooter replacement rear wheel set.

- These seem to come with 2 potential sizes

of sprocket, it looks as if later models had

bigger wheel sprocket for lower top speedbut more torque. I am using the one with

the larger sprocket.

- The drum brake mechanism has been

Side view showing the new super slim profile. One

end is solid on ground and the other end (the end of

main direction of travel) has a roller skate wheel so ifmotor cuts when moving along, this (forward) end

will tip down but board will roll to a stop rather than

stopping instantly and throwing rider off.

Many hours of cutting, welding, grinding, more

welding went into this frame to get the tolerances

correct. Chains have to line up with motors, chains

must not rub frame. Frame has to be strong enough to

take bending forces (weight of rider) through exact

place where motors, axles, IMU and chains are alsolocated.

Batteries are 12V each pack, two packs, 3.7 Amp h for
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removed from each wheel.

- The alloy holding this mechanism has

been sawn off (making sure wheel bearing

not damaged) and axle for each wheel has

been shortened.

- Axle fixed rigidly at inner end on frame

which is why the outer axle mount does not

take any side-to-side loads and can be made

of flat steel - it only has to carry vertical

load.

Plenty of free space in the other end of the

frame for future electronics:

Compass module? GPS? LCD display

perhaps. Thinking of putting Sharp

downward looking infra-red range finders

in each end to measure distance to ground.

This would make board automatically

adjust its "trim" so if for example going upor down a slope, each end would stay same

(i.e. equal) distance from the ground for a

more natural ride.

Also in previous machines with wheels

underneath deck, when deck tips, this

moves the wheels off the centre-line, so

motors have to do more work to bring deck

level. Now the axles are in centre line

(rather than under it), then if board tips,

wheels are still closer to being under therider, i.e. not pushed off to one side, so

perhaps overall power consumption may go

down a little.

4 LED's on the top. What are they for?

All 4 led's flash at startup, they then all go

R/C cars. They slide into a rectangular box section in

the frame from each end so can easily be replaced

without any dismantling of frame. Box section

protects batteries completely. They can supply up to

40 amps in short bursts so may not last that long in

terms of endurance but should be powerful enough to

run the machine.

Batteries slide in.

Despite large wheels, ride height is same as the height

of axle line from ground, about 10cm. If moving along

and hit small obstruction, board less likely to violently

tip as centre of lateral momentum is through the axle

line.
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out apart from LED4 to show it is now OK

for you to stand on it (i.e. after gyros have

zeroed themselves), and that the power is

still on.

i) You now tilt it level for first time. When

it comes level for first time, the self

balancing algorithm goes active. Board is

mushy underfoot for a few seconds then

"tightens up" to stop initial reflex urge of

rider to correct what the board is doing (the

"soft-start").

ii) A reading is taken from each pressure

sensor under hell/toe of right foot and this

becomes set as the normal mid-position

setting, i.e. when you want to go straight on

and not turn.

iii) The middle 2 LED's now light up when

you are going straight ahead.

iv) If you lean back with right foot, the 2LED's on the same side of board that your

heels are on light up.

If you lean forwards onto toes, the 2 LED's

on same side of the board as your toes light

up.

This allows you to learn how board is

reacting to the pressure of your right foot

heel and toe on the pressure sensors, in

terms of steering.

v) If you roll right foot over to one side

(you cannot just start to lift it off else boardwould tip left side down and shoot off to

the left): no pressure on either pressure

sensor, deadman is activated, motors are

cut. "Countdown" starts - if you put foot

back on within about 1 second, motors will

restart (i.e. it gives you a slight chance to

recover the situation), if not, then deadman

switch is permanently engaged, all LED's

go out, and you will have to reset board

from scratch.

ORIGINAL ONE WHEELED

SKATEBOARD AND MACHINES

THAT DEVELOPED FROM IT ARE

BELOW.

MUCH MORE INFO ON EACH

VARIATION CAN BE FOUND USING

THE LINKS ON LEFT HAND

MARGIN

CARBON PANELLED TWIN WHEEL

VERSION May 2010

Here in the 3 images below is the version

July 22, 2011: I have obtained 2 of the new(ish) 1 inchdiameter FlexiForce variable resistance pressure

sensors. These measure pressure under heel and toe of

right foot and will enable board to be steered by

leaning, more like a real skateboard. By rolling whole

foot to right (so not pressing either sensor) this will

cut power to motors and act as the "deadman" switch.

If this all works OK I can finally get rid of the hand-

held deadman switch /steering controller. It is nearly

there, just a case of improving the software a little

more.
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