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Mobile Hoverboard Robot Base

The Mobile Hoverboard Robot Base is a low-cost, modular mobile robot base developed by the Cornell Tech Interaction Lab (CT-IRL). Built from a deconstructed hoverboard, it is designed to be attached to everyday objects — like a trash bin, a cart, or furniture — to create novel robots for Human-Robot Interaction (HRI) research. Operators control it remotely using the Wizard of Oz method, simulating autonomous behavior.

Trashbot demo

Platform in action — trash bin configuration

Chair robot Demo

Overview

The platform is built around a deconstructed hoverboard driven by an ODrive motor controller, managed by a Raspberry Pi running ROS 2 Humble. A second Raspberry Pi with an 8BitDo Lite 2 Bluetooth controller provides wireless teleoperation.

Key capabilities:

  • Differential drive locomotion via hoverboard motors
  • Mounted Insta360 for first-person video
  • Wizard of Oz operation for HRI studies
Section Description
Bill of Materials Parts list with sourcing links
Assembly: Frame Dolly and mounting plate setup
Assembly: Electronics ODrive, RPi, and wiring
Software: Installation Ubuntu + ROS 2 setup on Raspberry Pi
Software: Calibration ODrive motor calibration
Teleoperation Bluetooth joystick control

Two-RPi Architecture

Each robot unit uses two Raspberry Pis — one mounted inside the base (runs the motor controller) and one carried externally by the operator (runs the joystick controller). They communicate over a shared WiFi network via ROS 2.