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PD Controller: Design01:26

PD Controller: Design

358
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
358
Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

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Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
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Related Experiment Video

Updated: Sep 18, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Commercial Hoverboard Reverse Engineering and Repurposing for a Stabilized Platform: A Recyclable Solution for

Antoine Leblanc1, Lùka Tricot1, Duncan Briquet1

  • 1School of National Institute of Applied Sciences-INSA Hauts-de-France, Campus Mont Houy, 59313 Valenciennes, France.

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Summary

This study repurposed discarded hoverboards into an auto-stabilizing robotic platform for medical transport. The sustainable solution offers remote operation and modularity, demonstrating efficient payload carrying and energy use.

Keywords:
control systemhoverboardinverted pendulummobile basemodular roboticsreverse engineeringroboticstwo-wheeled robot

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Area of Science:

  • Robotics and Mechatronics
  • Sustainable Engineering
  • Medical Technology

Background:

  • Growing emphasis on sustainability and resource optimization.
  • Limited lifespan and disposal of commercial equipment like hoverboards.
  • Need for cost-effective and adaptable robotic platforms for various applications.

Purpose of the Study:

  • To reverse engineer and repurpose used hoverboards into a modular, auto-stabilizing robotic platform.
  • To explore medical applications, specifically for medication transport.
  • To develop a sustainable and versatile robotic solution using recycled components.

Main Methods:

  • Disassembly and reprogramming of hoverboard motor controllers and sensors.
  • Implementation of sensor fusion (accelerometer, gyroscope) with a Kalman filter for stability.
  • Development of a Proportional-Integral-Derivative (PID) control loop and a Human-Machine Interface (HMI) on an ESP32 microcontroller for teleoperation.

Main Results:

  • Successful autonomous balancing of the repurposed hoverboard platform.
  • Demonstrated capability to carry payloads effectively.
  • Achieved high energy efficiency, validating the platform's viability.
  • Enabled remote operation and monitoring via the HMI.

Conclusions:

  • Recycled hoverboards can be transformed into functional, auto-stabilizing robotic bases.
  • The platform offers a sustainable and cost-effective alternative for modular robotic systems.
  • Potential for widespread application in logistics, healthcare, and other fields requiring mobile robotic solutions.