Reverse engineering + control of mini self-balacing scooter
Reverse engineering + control of mini self-balacing scooter
by vmatos
Thu Aug 13, 2015 6:19 pm
Here at Robosavvy we really enjoy making self-balancing robots.
Robots like our human greeting robot Rickie and Ali's gaming sidekick, FRHANK were two awesome projects where we had much fun developing.
Recently we came across a mini segway/scooter that seemed as a great starting point for a more affordable self-balacing robotic platform. Video
We just received one on our Lab!
In the next weeks we'll take a closer look at it and reverse engineer all the electronics. Then we'll develop our own main board and control algorithms. How much we use from the original device and how much we are throwing to the trash will depend on its design.
We'll start by understanding the role of the three boards, each one with its own ARM MCU, how they communicate and how the motors are controlled and driven.
Here are some photos of the disassembly.
We'll keep you guys posted and share all the details.
Robots like our human greeting robot Rickie and Ali's gaming sidekick, FRHANK were two awesome projects where we had much fun developing.
Recently we came across a mini segway/scooter that seemed as a great starting point for a more affordable self-balacing robotic platform. Video
We just received one on our Lab!
- The mini scooter
- IMG_20150813_173100.jpg (2.96 MiB) Viewed 37326 times
In the next weeks we'll take a closer look at it and reverse engineer all the electronics. Then we'll develop our own main board and control algorithms. How much we use from the original device and how much we are throwing to the trash will depend on its design.
We'll start by understanding the role of the three boards, each one with its own ARM MCU, how they communicate and how the motors are controlled and driven.
Here are some photos of the disassembly.
- Battery LEDs and foot platform sensors
- IMG_20150813_173153.jpg (2.31 MiB) Viewed 37326 times
- Battery on the right and motor board on the left
- IMG_20150813_173226.jpg (3.44 MiB) Viewed 37326 times
- Right IMU board with optical sensors for foot detection
- IMG_20150813_173336.jpg (3.25 MiB) Viewed 37326 times
- Motor (?) board with ARM microcontroller
- IMG_20150813_173523.jpg (4.88 MiB) Viewed 37326 times
- Motor board and left IMU board
- IMG_20150813_173551.jpg (4.33 MiB) Viewed 37326 times
- One of two boards with a ARM microcontroller + MPU6050 IMU
- IMG_20150813_173716.jpg (3.49 MiB) Viewed 37326 times
We'll keep you guys posted and share all the details.
