Description→ The self-righting mechanism for a two-wheeled foldable e-scooter uses the steering column, the steering-column actuator, and side wheels to self-right an e-scooter. I have demonstrated this capability on a Mi foldable scooter. When the scooter is tipped over, the onboard IMU senses the orientation of the scooter and activates the motor on the steering column. The steering column handle pushes on the ground and the reaction force turns the scooter chassis about the axis parallel to the scooter. Once the scooter rights itself to a certain angle, spring-loaded side wheels passively engage to balance the scooter in the upright position.
Simulations→ The figure below illustrates how the self-righting mechanism will work by depicting three successive time steps in a ROS Gazebo simulation environment.
→ This project has a patent already disclosed