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7/30/2019 One Wheeled
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Self-balancing skateboard / scooter projects: One and two wheeled.
John Dingley email: self-
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!
http://sites.google.com/site/onewheeledselfbalancing/http://sites.google.com/site/onewheeledselfbalancing/http://sites.google.com/site/onewheeledselfbalancing/http://sites.google.com/site/onewheeledselfbalancing/http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010mailto:[email 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 protected]://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/Home/carbon-panelled-version-may-2010http://sites.google.com/site/onewheeledselfbalancing/http://sites.google.com/site/onewheeledselfbalancing/http://sites.google.com/site/onewheeledselfbalancing/7/30/2019 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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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One Wheeled
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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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One Wheeled
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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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One Wheeled
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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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