Autonomous Self-Balancing Vehicle
A modular, open-source two-wheeled self-balancing vehicle platform for studying autonomous single-track vehicles, with a tubular frame and 3D-printable parts.
- Self-driving 1:10
- Open source
- 3D printable
Suggested by Robotheca, created by @LuckyYoon (opens in a new tab), from github.com/LuckyYoon/autonomous-self-balancing-vehicle (opens in a new tab). Pinned to commit 341ddfd (opens in a new tab).
- Hardware license
- Apache-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Allowed
This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.
Which files (1 firmware image)
Photo and 3D model
3D preview converted from github.com/LuckyYoon/autonomous-self-balancing-vehicle at 341ddfd, under Apache-2.0. View the original files from GitHub (1.1 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Two-wheeled single-track vehicle that balances itself on its wheels
- Reaction-wheel stabilized configuration that adjusts its balance point in response to actuator torque
- Designed as a research platform for dynamically unstable autonomous vehicles
- Intended to support SLAM-based navigation on top of the stabilization control
Bill of materials
18 parts18 of 18 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| Bill of Materials - Base Configuration | ||||
| 1 | Harper Fixie Bike | 1 | $219.99≈ €196 | – |
| 2 | Low-Carbon Steel Disc 6" Diameter, 1" Long | 1 | $33.62≈ €30 | – |
| 3 | ODESC V4.2 24V Single-Drive FOC BLDC Motor Controller | 1 | $39.99≈ €36 | – |
| 4 | 2Pcs STM32F411CEU6 | 1 | $15.99≈ €14 | – |
| 5 | ICM45686 Six-Axis Accelerometer Gyroscope Sensor | 1 | $16.99≈ €15 | – |
| 6 | M3 Anti-Vibration Standoffs and Rubber Mounts | 1 | $13.96≈ €12 | – |
| 7 | 6S Lipo Battery 2200mAh 150C | 1 | $34.99≈ €31 | – |
| 8 | Motor with encoder magnet - M8325s 100KV | 1 | $188.48≈ €168 | – |
| 9 | AS5047P Magnetic Encoder | 1 | $24.99≈ €22 | – |
| 10 | 60 PCS 6 Inches Reusable Cable Ties | 1 | $6.98≈ €6 | – |
| 11 | 24V 8Ah 30A BMS Lithium Battery with Charger | 1 | $74.99≈ €67 | – |
| 12 | Terminal Block | 1 | $9.77≈ €9 | – |
| 13 | DC 24V to 12V 5A Converter 60W | 1 | $9.99≈ €9 | – |
| 14 | 2Pcs Toggle Switch with Cover | 1 | $9.99≈ €9 | – |
| 15 | 160KG Digital RC Servo 270 Degree 24V | 1 | $59.83≈ €53 | – |
| 16 | Bidirectional 110A Brushed ESC 12V 24V | 1 | $32.99≈ €29 | – |
| 17 | 25H Chain 480 Links | 1 | $18.98≈ €17 | – |
| 18 | 90T Rear Sprocket | 1 | $59.95≈ €54 | – |
≈ € amounts use the ECB reference rate of 22 Oct 2026, for comparison only.
Parts total: $872.47. Read from docs/bill_of_materials_base.md at the pinned commit.
Build guide
The guide appears here as you scroll.
Guide by @LuckyYoon (README.md), under Apache-2.0.
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- STM32F411CEU6 microcontroller boards (two listed in the parts list)
- ODESC V4.2 24V single-drive FOC BLDC motor controller
- M8325s 100KV brushless motor with encoder magnet
- AS5047P magnetic encoder
- ICM45686 six-axis accelerometer and gyroscope sensor
- 160KG digital RC servo, 270 degree, 24V
- Bidirectional 110A brushed ESC, 12V/24V
- 6S LiPo battery 2200mAh 150C and 24V 8Ah BMS lithium battery with charger
- DC 24V to 12V 5A converter
- Toggle switches with cover and terminal block
Connections
- Battery feeds a 24V to 12V converter and a BMS lithium battery with charger, with toggle switches and a terminal block in the power path
- The AS5047P magnetic encoder reads the motor's encoder magnet to give shaft position
Cables and connectors
From the parts list.
- 60 PCS 6 Inches Reusable Cable Ties × 1
- Terminal Block × 1