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Wheel-legged Robot (Balance Leg V2)

A wheel-legged balancing robot with leg-joint motors and hub-wheel motors, controlled by a custom STM32H723 board using LQR and VMC.

  • Other
  • No license: all rights reserved by the creator
  • ROS 2
  • 3D printable

Suggested by Robotheca, created by @Multivac11 (opens in a new tab), from github.com/Multivac11/Wheel-legged-robot--Main_Code (opens in a new tab). Pinned to commit 3467f3f (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
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.

Some folders have their own license: Drivers/CMSIS/ (Apache-2.0).

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

Which files (5 firmware images)

Photo

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)
Height
398.1 mm

What it can do

Written by Robotheca from the project's documents.

  • Wheel-legged robot: two legs with wheel hubs, balanced with LQR control and a virtual-leg (VMC) model
  • Leg joints use Unitree A1 motors, with a leg length range of 95.51mm to 398.1mm
  • Wheels driven by DJI 3508 hub motors, controlled over CAN
  • Controlled by an ELRS radio receiver (CRSF protocol) with a 500Hz control loop
  • Uses a serial gyroscope for attitude, and an onboard screen with facial expressions
  • Project notes describe ROS2 integration for IMU topics and planned SocketCAN communication

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

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 guideAsk the creator on GitHub (opens in a new tab)

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • STM32H723VGT6 custom 4-layer main controller board, 10-31V input with reverse-polarity protection
  • Two controllable power outputs and a TPS5450 supply for servos
  • Four Unitree A1 joint motors connected over RS485 through TTL-to-RS485 modules
  • Two DJI 3508 wheel hub motors with C610 speed controllers
  • ELRS radio receiver on a serial port, and a screen driver board
  • CH340 USB serial chip and seven user LEDs for status indication

Connections

  • Each Unitree A1 motor gets its own UART port, so the joints are on USART3, UART9, UART4 and UART7
  • DJI 3508 wheel motors are on CAN1 and CAN2
  • Serial gyroscope on USART2, ELRS receiver on USART10, screen driver on USART8, wireless DAPlink debug on USART6
  • Motors are wired to RS485 through TTL-to-RS485 adapters with the A1 pin order shown in the documents
  • Power is 10-31V input with a reverse-polarity MOSFET circuit