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LINKS Interesting and inspirational projects: Skateboard style creations: Ben Smithers skateboard YouTube video Click here Ben Smithers website (this link seems to be broken but the YouTube video still works) Click here Maiden voyage of the “Leviskate” self balancing skateboard. Click Here The Emanual series. Emanual 1 is very interesting as although it is one of the most skateboard-like of the many creations here, it still has 2 wheels and can turn on the spot by tilting the board. Click Here Another University self balancing skateboard, not quite as good as the Ben Smithers one. Click Here Stanford University skateboard with 2 wheels. Click Here Another good, working, self balancing skateboard. Click Here Skatanova self balancing 2 wheeled skateboard. Click Here The Segskate. Click Here The ME102. Click Here Another new self balancing skateboard: Click here "Dave Southalls' Engineering Experiments From The Shed" - preparing to build a self balancing skateboard with accelerometer only: Click Here Clint Rutkas has had a website for some time describing his self balancing skateboard project among others plus some youtube videos. Here we see his board starting to balance for the first time, a great moment: Click Here A guy keeping a very low profile called Kyle has built a one wheeled skateboard. I can find no information at all other than a couple of photos on flickr: Click Here Here is someone who looks as if he is trying to build a skateboard type machine: Click Here
Unicycle style creations: Early German unicycle website Click Here
More on this unicycle Click Here
Here is one from as long ago as 2003: Click Here
Self balancing unicycle. Has downloadable code. As unicycle only has one wheel the code is very relevant for a self balancing one wheeled skateboard. Worth studying. Click Here
MUST SEE: Recent electric unicycle project from Slovenia. www.enicycle.com Uses a hub motor. The other really great thing is that it has a steering mechanism that means you can learn to ride it in 10 minutes. Superb YouTube video of him riding it around town, around a shopping centre, down a corridor and into the office! Click Here
Also here is a great video of the Enicycle on the "Gadget Show" (let the adverts at the start run then the video of this machine will appear) : Click Here
The ECOW scooter. Click Here Focus design attempting to sell self balancing unicycle. Click Here Attempt to build unicycle from 2004: Click Here
HONDA make a unicycle style demonstrator that also balances in sideways direction using omnidirectional wheel: Click Here Click Here for wheel mechanism (see end of this video). If a small bit of dirt gets into the small "lateral" movement wheels it looks as if it could suddenly lose ability to move sideways.
Segway style creations:
All about Dean Kamen and the Segway: Click Here
Segway website: Click Here
Japanese Emeritus Professor Kazuo Yamafuji of Tokyo's University of Electro-Communications who built a self balancing 2 wheeled robot in 1986, patented in Japan in 1996 Click here. Some internet discussion about this here. Picture of it half way down this page: Click Here. It looks to me as if there was "prior art" covering use of accelerometer/gyroscope combination to create self-balancing in the fore/aft direction before the Segway. However the Segway has 5 gyro's among many other features so can turn safely even on slopes for example, as it acquires a lot more information which the control system can then use to correctly position the machine.
Trevor Blackwell build your own segway site. Click Here Version 2 of this scooter Click Here More on how to build one of these Click Here MIT segway project: Click Here IMPORTANT download their technical specifications and definitely read the article on the “balance filter” by Shane Colton. This explains in plain English how simple (relative to a Kalman filter anyway) self balancing can be made to work and how the signals from the gyro and the accelerometer are used. Malcolm Faed has build a Segway type vehicle. Click Here Geoffrey D Bennett has built “Meta” also a Segway type vehicle. Has downloadable code. Worth studying. Click Here Another segway built on low budget very quickly. Click Here Another homebuilt segway clone. Click Here Segway project from ?Vietnam. Click Here Ginger 2, a new home made segway project. Click Here (Ginger was the codename for the Segway before it was launched) A really excellent Scandinavian segway project. Click Here A neat small Segway project as part of an Atmel design competition. Download his abstract and then the full pdf write up of the project as it has a lot of useful information and code. Click Here Rotanova scooter. Click Here The two wheel deal from Purdue. Click Here Segway clone with attached barstool. See their website for description of some of the injuries you can acquire during development! Their test driver does seem especially bold in his approach. Click Here Another one. Click Here Another. Click here The Mway-III. Click Here Long video on the Mway build. Click Here Very good segway clone from Australia. Son of EDGAR. Click Here Toyota "Winglet" mini-Segway clone. Click Here Another homebuild segway. Click Here
New Japanese Segway PMP-2: Click Here
Homebuilt Segway with wheelchair motors: Click Here Quebec Open Segway: Click Here Someone had to do it, a self balancing red phone booth! Click Here The Korean "BBRider" Click Here Hanoi University $300 Segway clone: Click Here The Zzaag projekt Segway clone from Germany: Click Here kcway2: Click here The Huboway: Click here Homemade Winglet: Click here Dwukółka a la segway: Click here Segway DIY: Click here Zachary Anderson and his "Tipper": Click Here
An Asian competition winner, low cost segway style vehicle: Click here
The "MAV" mono-axial vehicle. Good website, lots of tech information: Click Here Daniel Fukaba's Segway - Video clip: Click Here
Man developing Wii Segway: Click Here
ELEKTOR magazine DIY Segway kit (Just over $2000): Click Here
Rensselaer Polytechnic Institute Segway development project: Click Here
Here is one from Harvard University: Click Here
Interesting Segway clone attempt using an accelerometer only (no gyro): Click Here
Kerry Snyder's ongoing build-a-Segway project: Click Here
Meta Project: image of Segway with reclining garden chair seat (brave man): Click Here
Here is a video of the same machine with reclining chair! Click Here
Segway with wheelchair motors built by 4 students at Umeå University, Sweden: Click Here
Segway built as cheaply as possible: The heart of the balancing act is a 5DOF rate gyro and accelerometer combo board being interpreted by a pic 16F877a microcontroler with less than 100 lines of MikroBasic. Output is PWM converted to analog and sent to a Sabortooth 2X10 motorcontroller in analog input mode. Click Here
Another one, with Vespa scooter wheels for $200: Click Here
Teenager built Segway: ClickHere
New YouTube vid of an Arduino based OSMC based Segway from Iceland: Click Here
Segway construction webpage with plenty of photos: Click here
A really good Segway clone: Click Here Website for this machine, has excellent build photos: Click Here
Another excellent machine: Click Here
Here is yet another one - in early stages of development: Click Here
Really fast Segway clone: Click Here
Zachary Carpenter built this one at Tulsa University - it even has chrome spinners on the wheels! Click Here
Another homebuilt done by some school friends: Click Here
e-uvo power wheel: Click here A new category: Ski-less skis
Nissan ski-less skis: Click here Balancing robots: Gyrobot balancing robot, has some downloadable code for you to study. Click Here Equibot. Small section on dead spot correction for small motors and some code. Click here
The Seg-Wii: This is an extremely useful fairly recent website as it has video, example code with explanatory notes and is very well laid out. There is a powerpoint lecture on how the algorithm works too which is worth studying for any project like this: Click Here
Dale Heatherington has built a small robot that self-balances using an ANALOG PID controller with op-amps and a comparator. It balances really well too and you can download the circuit diagram: Click Here
Theory/Educational: Without this article I would have really struggled to understand how this can be done although elements of this algorithm do appear in the software of others in this list. Click Here My machine uses a "Complimentary Filter" which I believe is not quite the same thing as a "Kalman" filter which is more complex but in theory at least is "better" than a complimentary one. Having said that some have tried Kalman and found that the complimentary trial and error based methods worked best for them. If you want to know about the proper Kalman filter then look here if you can handle the maths: Click here Free book on how to program in “C” language for those of us who needed to learn this. Click Here
A good set of AVR programming tutorials (i.e. how to program the Atmel series of microcontrollers). Click Here Wikipedia article on the theory of PID control systems: Click Here Excellent tutorial for the complete newbie to AVR programming as I was. Click Here AVRbeginners net.................self explanatory really! Click Here Theory of PID controller tuning. Click Here "Build yourself a Segway" Podcast of high school student who built his own Segway. Shows him researching some of the above links on the net before he started: Click Here "Sccoterlabs" website which says it will have tutorials soon on how to build each part of your own segway clone: Click Here Other:
Phenomenal video from 1950's of a one wheeled vehicle powered by petrol engine and balanced by a mechanical gyro around country roads. Click Here
Jackie Chabanais and his petrol engined monocycle "Monorue." It looks as if he is an acrobat and can balance it using pure skill. Website has some amazing downloadable video of him riding it: Click Here
I love this one, the “Leango”, like riding on an upside down trackball. Click Here Strange set of images from a Photoshop competition of mock one wheeled vehicles: Click Here The Gyrover, gyro stabilised one wheeled remote controlled vehicle: Click here
The "Loony Cycle" - original link to Bolton College UK seems to be broken but a picture of it is on this page. Innovative idea,
is a bicycle wheel with a propeller on each side that spins and pushes it upright if it is falling over to one side: Click here
Nothing whatsoever to do with self balancing but inspirational: Chinese ? farmer-built "shanzhaiji" helicopter flying outside apartment block of owner, up a street and near power lines. No safety features: Click here Chinese farmer built autogyro. Title of video: "I don't think the farmer-made plane is fake" - built from assorted scrap metal by the look of it. Again no concern for personal safety whatsoever: Click here
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