Micro Wheeled-Leg Robot
A tiny desktop two-wheeled legged robot with ESP32 control and brushless motors.
- Wheeled
- No license: all rights reserved by the creator
- arduino
- 3D printable
Suggested by Robotheca, created by @MuShibo (opens in a new tab), from github.com/MuShibo/Micro-Wheeled_leg-Robot (opens in a new tab). Pinned to commit 19a012e (opens in a new tab).
- 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.
Photo and 3D model
3D model loaded from the original files on GitHub at 19a012e, under NONE. View the original files from GitHub (1.5 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Moves on two wheels with articulated legs
- Stands up and balances using brushless motors
- Controlled via WiFi web interface with joystick
- Supports AP and STA WiFi modes
- Uses SimpleFOC library for motor control
- Calibrates legs to mechanical limit position
- Transmits sensor data over WebSocket
- Debugs servos via time-division multiplexing
Bill of materials
45 parts45 of 45 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | 4.7K | 7 | – | – |
| 2 | 0.1uF | 5 | – | – |
| 3 | 1N4007W | 1 | – | – |
| 4 | CH340C | 1 | – | – |
| 5 | 0.1uF | 3 | – | – |
| 6 | SS-12D02-VG4 | 1 | – | – |
| 7 | 3K/0.1% | 1 | – | – |
| 8 | 1k/0.1% | 1 | – | – |
| 9 | 5264-3A | 2 | – | – |
| 10 | SS8050_C541705 | 2 | – | – |
| 11 | 1K | 2 | – | – |
| 12 | 10K | 2 | – | – |
| 13 | HDR-M-2.54_1x4 | 2 | – | – |
| 14 | U-C-M5SS-Y-1 | 1 | – | – |
| 15 | HX25003-3WAP | 1 | – | – |
| 16 | LED-0805_B | 1 | – | – |
| 17 | 1K | 2 | – | – |
| 18 | LED-0805_R | 1 | – | – |
| 19 | 10uF | 2 | – | – |
| 20 | 22uF | 3 | – | – |
| 21 | 33pF | 1 | – | – |
| 22 | 4.7uH | 1 | – | – |
| 23 | SS8550-C148468 | 1 | – | – |
| 24 | 100k | 1 | – | – |
| 25 | 40.2k | 1 | – | – |
| 26 | 5.49k | 1 | – | – |
| 27 | 10k | 4 | – | – |
| 28 | 10k | 1 | – | – |
| 29 | MP2225GJ-Z | 1 | – | – |
| 30 | SN74LVC1G125DBVR | 1 | – | – |
| 31 | SN74LVC1G126DBVR | 1 | – | – |
| 32 | 100uF | 1 | – | – |
| 33 | AMS1117-3.3 | 1 | – | – |
| 34 | 100uF | 2 | – | – |
| 35 | A1257WV-S-4P | 2 | – | – |
| 36 | HDR-M-2.54_1x3 | 2 | – | – |
| 37 | 10K | 2 | – | – |
| 38 | 100nF | 2 | – | – |
| 39 | 220nF | 2 | – | – |
| 40 | 1uF | 2 | – | – |
| 41 | 10nF | 2 | – | – |
| 42 | LBAT54SLT1G | 2 | – | – |
| 43 | K2-3.6×6.1_SMD | 2 | – | – |
| 44 | L6234PD013TR | 2 | – | – |
| 45 | ESP32-WROOM-32 | 1 | – | – |
45 of 45 parts have no price in the source, so there is no parts total. Read from 2.Hardware/1.ControllerPCB/BOM_PCB_Controller.csv at the pinned commit.
Build guide
The creator's steps, each with its instructions.
- 1Prepare 3D printed parts
- 2Assemble mechanical structure
- 3Fabricate and assemble PCBs
- 4Connect wiring according to diagram
- 5Upload Arduino firmware
- 6Calibrate servos and motors
- 7Power on and test robot
The creator's guide is in the repository. 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)Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- ESP32-WROOM-32 as main controller
- AS5600 magnetic encoder for wheels
- MPU6050 IMU sensor
- FEETECH bus servos for legs
- CH340C USB-to-serial converter
- AMS1117-3.3 voltage regulator
- MP2225GJ-Z buck converter
- SN74LVC1G125DBVR and SN74LVC1G126DBVR logic ICs
- HX25003-3WAP battery charger IC
- SS-12D02-VG4 limit switch
- LED indicators (red, blue, white)
- GH1.25 4PIN connectors for wiring
Connections
- ESP32 I2C bus connects MPU6050 and AS5600 encoders
- Servo debugging board merges two serial lines into one
- GH1.25 4PIN cables link controller PCB to encoder and IMU PCBs
- Power from battery via XH2.54 connector to main control board
Schematics, boards and diagrams
- 2.Hardware/1.ControllerPCB/Gerber_PCB_Controller.zipGerber (PCB manufacturing)
- 2.Hardware/1.ControllerPCB/Schematic.pdfDiagram
- 2.Hardware/2.EncoderPCB/Gerber_PCB_Encoder.zipGerber (PCB manufacturing)
- 2.Hardware/2.EncoderPCB/Schematic.pdfDiagram
- 2.Hardware/3.IMUPCB/Gerber_PCB_IMU.zipGerber (PCB manufacturing)
- 2.Hardware/4.ServoDebugPCB/Gerber_PCB_ServoDebug.zipGerber (PCB manufacturing)
- 2.Hardware/4.ServoDebugPCB/Schematic.pdfDiagram
- 4.Docs/Image/Connection.pngDiagram
