Motion measurement of a two-wheeled skateboard and its dynamical simulation

This study investigates the dynamics of the propulsion mechanism of a two-wheeled skateboard by measurements of human skateboard motion and computer simulations using a simplified model. This model expresses the board motion within the horizontal plane. The inputs of the model are the yaw moment about a vertical axis, horizontal force normal to the skateboard axis, and two-wheel orientations, while the outputs are the center of mass position in the horizontal plane and the board orientation. By selecting parameters of sinusoidal inputs to fit the measurement data, similar output data is obtained from the motion measurements and computer simulations. This result allows us to conclude that some sinusoidal motions and forces can robustly propel this type of skateboard.