Self-balancing human transporters are naturally unstable. However, when coupled with sophisticated control laws, these machines can provide mobility within a finite stability envelope. Challenging environmental conditions, or unanticipated operator action, can cause these machines to exhibit unexpected behavior. In an effort to better understand the behavior of these systems inside and outside the stability envelope, a dynamic model of a hoverboard is presented. Motion-capture data is also presented in which an operator’s interactions with the hoverboard were recorded.
- Dynamic Systems and Control Division
Modeling and Experimental Testing of Hoverboard Dynamic Behavior
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Castro, A, Singhose, W, Liu, X, Sorensen, K, & Kwak, EC. "Modeling and Experimental Testing of Hoverboard Dynamic Behavior." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T01A004. ASME. https://doi.org/10.1115/DSCC2017-5269
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