Reverse engineering + control of mini self-balacing scooter

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Reverse engineering + control of mini self-balacing scooter

Post by vmatos » Thu Aug 13, 2015 6:19 pm

Post 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!
IMG_20150813_173100.jpg
The mini scooter
IMG_20150813_173100.jpg (2.96 MiB) Viewed 20973 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.
IMG_20150813_173153.jpg
Battery LEDs and foot platform sensors
IMG_20150813_173153.jpg (2.31 MiB) Viewed 20973 times

IMG_20150813_173226.jpg
Battery on the right and motor board on the left
IMG_20150813_173226.jpg (3.44 MiB) Viewed 20973 times

IMG_20150813_173336.jpg
Right IMU board with optical sensors for foot detection
IMG_20150813_173336.jpg (3.25 MiB) Viewed 20973 times

IMG_20150813_173523.jpg
Motor (?) board with ARM microcontroller
IMG_20150813_173523.jpg (4.88 MiB) Viewed 20973 times

IMG_20150813_173551.jpg
Motor board and left IMU board
IMG_20150813_173551.jpg (4.33 MiB) Viewed 20973 times

IMG_20150813_173716.jpg
One of two boards with a ARM microcontroller + MPU6050 IMU
IMG_20150813_173716.jpg (3.49 MiB) Viewed 20973 times

We'll keep you guys posted and share all the details.
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!
IMG_20150813_173100.jpg
The mini scooter
IMG_20150813_173100.jpg (2.96 MiB) Viewed 20973 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.
IMG_20150813_173153.jpg
Battery LEDs and foot platform sensors
IMG_20150813_173153.jpg (2.31 MiB) Viewed 20973 times

IMG_20150813_173226.jpg
Battery on the right and motor board on the left
IMG_20150813_173226.jpg (3.44 MiB) Viewed 20973 times

IMG_20150813_173336.jpg
Right IMU board with optical sensors for foot detection
IMG_20150813_173336.jpg (3.25 MiB) Viewed 20973 times

IMG_20150813_173523.jpg
Motor (?) board with ARM microcontroller
IMG_20150813_173523.jpg (4.88 MiB) Viewed 20973 times

IMG_20150813_173551.jpg
Motor board and left IMU board
IMG_20150813_173551.jpg (4.33 MiB) Viewed 20973 times

IMG_20150813_173716.jpg
One of two boards with a ARM microcontroller + MPU6050 IMU
IMG_20150813_173716.jpg (3.49 MiB) Viewed 20973 times

We'll keep you guys posted and share all the details.
vmatos offline
Robot Builder
Robot Builder
Posts: 12
Joined: Fri Jun 20, 2014 10:36 am

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