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E-skateboard with torque vector steering

If you had four of these skateboards you could haul a couch.

Adam LangeAdam Lange
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  • Adam LangeAdam Lange

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ongoing project

This project was created on 05/15/2020 and last updated 3 years ago.

Description

Electric skateboards don't have much cargo capacity. Self driving swarms of skateboards could help to increase skateboard cargo capacity.

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  • The hardware

    Adam Lange • 05/15/2020 at 00:41 • 0 comments

    This part is a bicycle headset with a hall effect encoder.  It allows the front axle of the skateboard to freely pivot and senses the axle angle so that the controller can hold the desired steering angle by sending torque commands to the left and right wheels.

  • Skating with torque vector steering

    Adam Lange • 05/15/2020 at 00:27 • 0 comments

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jemimelan wrote 10/11/2020 at 11:07 • point

This is looking so great. I'm also working on the same project for my automatic skate running. You can read here the review of skateboard https://skateboardslife.com

  Are you sure? yes | no

Kyle Brinkerhoff wrote 05/21/2020 at 14:39 • point

hmm looks like you probably need to have a powered axis that the trucks pivot on  as well, this would be great because you could increase rideability by altering the max steering angle in relation to velocity, would really take the wobbly factor out, you will need to build a model to calculate the ideal angle limit curve, probably could do this by finding your CG and figure out angular momentum needed to move CG over centerline of the board to overcome forces applied while turning. its a great start though, and probably way easier than a CV solution

  Are you sure? yes | no

Adam Lange wrote 05/19/2020 at 16:52 • point

Now it's harder.  In the future it could be easier.  Balancing yourself on a skateboard with a thumb operated joystick is challenging but doable.  I have plans to strap a Vive lighthouse on the skateboard and implement a closed loop control.  Either you wear a tracker on your body or hold a tracker in your hand.  The control loop would try to keep the skateboard under the tracker and may include an offset from another comand source, for example a joystick.  A tracker on a stick would probably work well.

  Are you sure? yes | no

Krzysztof wrote 05/19/2020 at 07:47 • point

Would you say it's easier or harder to ride than normal skateboard?

  Are you sure? yes | no

Adam Lange wrote 05/19/2020 at 16:52 • point

Now it's harder.  In the future it could be easier.  Balancing yourself on a skateboard with a thumb operated joystick is challenging but doable.  I have plans to strap a Vive lighthouse on the skateboard and implement a closed loop control.  Either you wear a tracker on your body or hold a tracker in your hand.  The control loop would try to keep the skateboard under the tracker and may include an offset from another comand source, for example a joystick.  A tracker on a stick would probably work well.

  Are you sure? yes | no

Adam Lange wrote 05/19/2020 at 16:57 • point

Computer vision would also work well.  Probably better.  I would start with camera mounted on the skateboard looking up.  The driver would hold a visual target in their hand.  The control loop would try to keep the skateboard under the visual target.  In that same way you could make the skateboard follow things like your bicycle, other skateboards, ect.

  Are you sure? yes | no

Krzysztof wrote 05/20/2020 at 07:15 • point

Hmm, following bike - good idea for a "dog skateboard for transporting your groceries", but it would be probably too prone to tipping. But if it was a little wider platform... Overall, nice idea for steering!

  Are you sure? yes | no

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