stoRPer

A modular, adaptable all-wheel-drive rover built around a Raspberry Pi Pico board, with 3D-printed motor mounts and optional add-on bumpers and decks.

Wheeled
Open source
3D printable

Suggested by Robotheca, created by @concretedog (opens in a new tab), from github.com/concretedog/stoRPer (opens in a new tab). Pinned to commit 2cff3d4 (opens in a new tab).

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Hardware license: CERN-OHL-P-2.0 (opens in a new tab)
Software license: CERN-OHL-P-2.0 (opens in a new tab)
Commercial use: Allowed

stoRPer, photo from its repository — Photo:@concretedog (opens in a new tab)CERN-OHL-P-2.0source file (opens in a new tab)

3D preview converted from github.com/concretedog/stoRPer at 2cff3d4, under CERN-OHL-P-2.0. View the original files from GitHub (1.8 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Modular, adaptable all-wheel-drive rover built around a Raspberry Pi Pico or Pico W board.
Four N20 geared motors drive the wheels; motor mounts and wheels are 3D printed or commercial.
Optional add-on bumpers can carry an ultrasonic module (HC-SR04) and two bump switches for obstacle sensing.
Optional Kludge Deck adds a prototyping layer that conforms to the main PCB layout.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @concretedog (README.md), under CERN-OHL-P-2.0.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

Raspberry Pi Pico or Pico W, or an equivalent footprint microcontroller board.
Four N20 metal gear motors rated up to 6V.
L9910 motor driver circuits (four schematic sheets) for the motors.
Power from a small USB battery pack or a 14500/18650 cell wired to the power input.
Optional HC-SR04 ultrasonic module and two bump switches on the bumper add-on.

Connections

The four L9910 motor driver sheets and the main schematic describe how the motors connect to the Pico through the main PCB.
Power enters through the main board's power input, fed by a USB pack or a 14500/18650 cell.
The bumper add-on connects the ultrasonic module and bump switches to the main board via its own schematic.

Schematics, boards and diagrams

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 50/100Buildable with some effort
Parts: –
Tools: 3D printer, soldering iron, M2 and M3 hex drivers

Buildability50/100

Buildable with some effort

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 2cff3d4. It isn't a rating of the robot.

3D and CAD files20/20
7 printable parts (STL, 3MF), 9 CAD source 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 2,538 characters with 5 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: CERN-OHL-P-2.0; software: CERN-OHL-P-2.0.

Software

Framework: Not stated
Languages: Python
License: CERN-OHL-P-2.0

The code

Code_Examples/Python · 3 files

How to run it

Written by Robotheca from the project's documents.

The documents do not describe any software installation, firmware flashing, configuration, or start-up steps.

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

Project files

Every file of the project: code, CAD, electronics, guides, at commit 2cff3d4.

Community

Questions and improvements go to the creator's repository.

Photo and 3D model