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LZU Ascento

A two-wheeled, four-bar-linkage wheel-leg balancing robot modeled on the ASCENTO, controlled with LQR on an STM32H723 board.

  • Other
  • No license: all rights reserved by the creator
  • 3D printable

Suggested by Robotheca, created by @hpzhaozhao (opens in a new tab), from github.com/hpzhaozhao/LZU_ASCENTO (opens in a new tab). Pinned to commit 8e2737c (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

Some folders have their own license: lzu_ascento/Drivers/CMSIS/ (Apache-2.0).

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (2 scripts, 21 firmware images)

Photo

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)

Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Self-balancing wheel-leg robot modeled on the Ascento four-bar linkage design.
  • Balance control uses LQR, with the K matrix generated by MATLAB scripts and fitted to the robot's weight.
  • Leg length can be changed by remote control.
  • Drives forward and backward, and steers, with PD control for turning (still being tuned in the notes).
  • Wheel and joint motors are controlled with the MIT motor protocol over CAN.
  • Remote control uses the ELRS/CRSF protocol, with channels assigned to robot functions.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Model the robot in SolidWorks and assign material densities for mass estimation
  2. 2Select and buy the leg joint motors and wheel hub motors
  3. 3Print the 3D printed parts and CNC-machine the leg parts
  4. 4Assemble the leg four-bar linkage and wheels
  5. 5Set up STM32H723 board with STM32CubeMX and CLion, and bring up CAN communicatio
  6. 6Implement attitude estimation with BMI088 IMU and filtering algorithms
  7. 7Generate the LQR K matrix in MATLAB and deploy the controller to the STM32
  8. 8Configure ELRS remote control receiving and map channels to functions
  9. 9Tune the wheel and leg controllers and verify motor and IMU directions

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • DM_MC02 development board with STM32H723 microcontroller, running FreeRTOS.
  • Two joint motors (Stackforce, noted as discontinued; DaMiao motors recommended).
  • Two DMH6215 hub wheel motors.
  • RadioMaster remote controller with an ELRS receiver.
  • Lithium battery, charged with a balance charger and 120W power supply.

Connections

  • Motors are connected over CAN; the notes use CAN1 and CAN2 buses.
  • The ELRS receiver sends CRSF data to a UART that receives via DMA.
  • The gyroscope connects to the microcontroller; its six-axis positive directions must be checked during setup.