Segfault, an analog balancing scooter

Energy & Sustainability

ChArLeS from Cambridge, MA, wrote in with his self-balancing scooter.

SEGFAULT is a balancing vehicle with a 100% hardware stability controller. Not a single line of code runs to keep the vehicle upright.

An analog complementary filter implemented with operational amplifiers combines the outputs of an accelerometer and rate gyroscope and passes it to a proportional-integral (PI) compensator. The output of the PI compensator has a steering offset differentially added to it. The resulting analog voltage is the input to two custom 24 volt, 30 amp locked-antiphase H-bridge drivers (Class D amplifiers), which control the two 27:1 geared, 500 watt drive motors.

The vehicle frame is waterjet-cut aluminum and diamond-plate aluminum, and features a tiltable handlebar for steering input. Lastly, the P, I, and K controller gains are accessible and tunable by the user through a set of knobs on the handlebars.

8 thoughts on “Segfault, an analog balancing scooter

  1. sonnenspitze says:

    For me the report is absolutely impressive. A balancing scooter with a stability control is a really invention or development. If the idea was patented and the vehicle with such a technology would go in a row, then this would feel well not only for truck drivers, but the designers and engineers would become rich with this idea.

  2. migpics says:

    I envision this being attached to a broom and used to play Quidditch.

  3. Stephen says:

    The Equal Zero blog is one that should be on every Makers feed list, lots of cool stuff over there! :)


  4. ro erto says:

    Me gustaria hacer un segway como el que mostrais en el articulo, soy electronico y seria un reto hacerlo

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My interests include writing, electronics, RPGs, scifi, hackers & hackerspaces, 3D printing, building sets & toys. @johnbaichtal

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