PicomniRover

An open-source omnidirectional mobile robot built from 3D-printed parts, Raspberry Pi Pico W, and STS3215 serial bus servos driving omni wheels.

3D preview converted from github.com/eyr1n/PicomniRover at cc992a0, under MIT. View the original files from GitHub (229 KB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Omnidirectional mobile robot named PicomniRover, built around three omni wheels driven by serial bus servos.
Built from a Raspberry Pi Pico W controller with a 9-axis BNO055 sensor fusion module for orientation.
Documentation covers parts, 3D printed parts and PCB design; the documents do not describe specific movement control behaviour in detail.

This repository has no parts list Robotheca can read yet.

The guide appears here as you scroll.

Guide by @eyr1n (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

Notes written by Robotheca from the project's documents.

Raspberry Pi Pico W controller board.
BNO055 9-axis sensor fusion module.
Three FEETECH STS3215 serial bus servos (7.4V).
Pch MOSFET 2SJ496TZ-E (60V 5A) and XT30 power connectors.
Battery holders for six AA nickel-metal hydride cells at 1.2V nominal, not alkaline cells.
Custom shield PCB designed in KiCad 9.0.6 and produced by JLCPCB.

The shield PCB carries the Pico W via pin headers and long sockets, with the BNO055 module and servos attached to it.
Power is supplied through an XT30 connector and a 3.3V DC-DC converter for the logic side.
Resistors (1kΩ and 3.3kΩ) and capacitors are used on the board; the documents give the schematic image rather than a detailed pin list.

Difficulty: Intermediate
Estimated cost: ¥13,260≈ €75 (ECB rate, 15 Oct 2026)As stated by the creator.
Buildability: 35/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, KiCad

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit cc992a0. It isn't a rating of the robot.

3D and CAD files10/20
5 CAD source files.
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.
Software5/15
Instructions to install or run it.
Link to your code, or add it to this repository. Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation10/15
README of 2,943 characters with 2 pictures; 0 build steps.
Split the build into at least 3 steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: MIT; software: MIT.

Written by Robotheca from the project's documents.

The documents do not describe software installation, firmware flashing, configuration or startup steps.

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

Every file of the project: code, CAD, electronics, guides, at commit cc992a0.

Questions and improvements go to the creator's repository.