Abstract
Sustainability and resource optimization have spurred interest in giving a second life to used equipment, often discarded after limited use. Within this framework, we conducted a multidisciplinary, final-year engineering project to explore the reverse engineering and repurposing of commercial hoverboards for an auto-stabilizing, modular robotic platform, with emphasis on medical applications such as transporting medication. The innovation lies in recycling hoverboards to develop a teleoperated, stabilized base that can accommodate additional modules-for instance, a multifunctional arm or a transport shelf-akin to existing commercial robots. Our methodology involves disassembling and reprogramming the hoverboard's motor controllers and sensors to maintain horizontal stability. Control is realized through the sensor fusion of accelerometer and gyroscope data, processed by a Kalman filter and implemented in a Proportional-Integral-Derivative (PID) loop. A user-friendly Human-Machine Interface (HMI), hosted on an ESP32 microcontroller, enables remote operation and monitoring. Experimental results show that the platform autonomously balances, carries payloads, and achieves high energy efficiency, highlighting its potential as a sustainable and versatile solution in modular robotic applications.