The Catholic University of America

 Self-Balancing Skateboard


Description: C:\Users\Max\Dropbox\EECS Hallway Display\Student Projects\Senior Design\Skateboard\IMG_4416.JPGWe propose to build a skateboard enhanced with a central self-balancing robotics control system. The ideal case is for the skateboard to balance a wide-variety of objects including a human user under reasonable terrains and environments. The control system consists of an Arduino interacting with a digital gyroscope-accelerometer. An H-bridge would be used for motor control.
A system of closed-loop feedback will be applied where the Arduino acts as the control center that takes the sensor measurements from the gyroscope and adjusts the balance by sending signals to the H-bridge motor control. From the closed loop error calculated from the feedback loop, the Arduino will send the signal to make the necessary corrections to the motors. A reasonable margin of steady state error can be expected and will be necessary to avoid any abrupt changes to the balancing system, which can be dangerous for the user. 
The hardware design will consist of a skateboard with two wheels on each side of the board along the center with the control center electronics under the board and in between the wheels. The goal of the hardware electronics design is to make it compact so that the user has maximum flexibility in the utilization of the board.