ONE-Robot

A self-balancing unicycle robot based on IMU and STM32.

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

Suggested by Robotheca, created by @peng-zhihui (opens in a new tab), from github.com/peng-zhihui/ONE-Robot (opens in a new tab). Pinned to commit 9476a0a (opens in a new tab).

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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.

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

Which files (1 firmware image)

Software/STM32-Firmware/Output/STM32-DEMO.hex (opens in a new tab)

Its license doesn't let Robotheca show its photos.

See the photos on GitHub

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.

Balances on one wheel
Moves forward and backward
Controlled by IMU feedback
Uses STM32 microcontroller

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Assemble mechanical structure
2Build STM32 minimum system circuit
3Flash firmware to STM32
4Calibrate IMU and motor control

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 guide Ask the creator on GitHub

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

STM32F103 microcontroller
Two DC motors with drivers
IMU (gyroscope and accelerometer)
Wheel encoders
Analog sensors for IMU data

Connections

STM32 minimum system circuit
Two PWM outputs for motor control
Two timer inputs for encoder signals
ADC inputs for analog IMU sensors

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 30/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron

Buildability30/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 9476a0a. It isn't a rating of the robot.

3D and CAD files10/20
1 CAD source file.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation10/15
README of 241 characters with 1 picture; 4 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses0/10
Hardware: no license; software: no license.
Add a license for the hardware (e.g. CERN-OHL-S-2.0 or CC-BY-SA-4.0). Add a license for the software (e.g. MIT or Apache-2.0).

Software

Framework: Not stated
Languages: C, Assembly
License: NONE

The code

Software/Assembly, C · 78 files

How to run it

Written by Robotheca from the project's documents.

Flash STM32 firmware from source code
Configure PWM, timers, and ADC for motor and sensor control

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit 9476a0a.

Community

Questions and improvements go to the creator's repository.

Photo