# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Venus-1 Four-link Wheel-legged Robot
summary: A four-link wheel-legged robot designed for adaptive center of gravity, obstacle crossing, and jumping, controlled via STM32H723 with FreeRTOS.
category: rover
difficulty: advanced
license:
  hardware: GPL-3.0-only
  software: GPL-3.0-only
source:
  repository: https://github.com/track-tech/Venus-1__Four-link-wheel-legged-robot
  ref: d64bdc0ab5a7adc55ad8e6ed32aa329192f08bc7
tools:
  - 3D printer
  - soldering iron
  - screwdriver set
  - wire stripper
  - multimeter
files:
  parts_3d: 1.3D_Model/
  cad: 1.3D_Model/
  images:
    - 3.Docs & Pic/最终测试插图/原型机.jpg
build_steps:
  - title: Prepare 3D Printed Parts and CAD Models
  - title: Assemble Mechanical Structure with 3240 Epoxy Board
  - title: Install Joint Motors (CyberGear) and Wheel Motors (DJI C610+M2006)
  - title: Mount Electronics and Center Power Distribution Board
  - title: Wire and Connect Power and CAN Bus System
  - title: Install and Configure STM32H723 with FreeRTOS
  - title: Calibrate Motors and Test PID Control
  - title: Perform Functional Tests (Adaptive Center of Gravity, Jumping, etc.)