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Wheelbot

A jumping reaction wheel unicycle robot that balances on a single wheel and can jump.

  • Other
  • Open source
  • 3D printable

Suggested by Robotheca, created by @AndReGeist (opens in a new tab), from github.com/AndReGeist/wheelbot (opens in a new tab). Pinned to commit cd3b094 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
GPL-3.0-only (opens in a new tab)
Software license
GPL-3.0-only (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

This repository has no photo of the robot yet.

3D preview converted from github.com/AndReGeist/wheelbot at cd3b094, under GPL-3.0-only. View the original files from GitHub (5.1 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Wheelbot is a jumping reaction wheel unicycle robot, per the paper cited in the README.
  • Its state estimation uses accelerometers to estimate tilt angles.
  • It is controlled by an LQR controller, tuned in a Simulink model.
  • It is connected over WiFi to a PC through a dongle, with data collected and commands sent by a Python program.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @AndReGeist (README.md), under GPL-3.0-only.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • A Maevarm M2 microcontroller board is attached to the motherboard and runs the robot firmware.
  • A motherboard circuit board connects to the Maevarm M2 and supplies power to a uDriver-v2 board.
  • A second Maevarm M2, connected to a PC, serves as the WiFi dongle.
  • The reaction wheel is formed from cut copper rings.

Connections

  • The motherboard connects to the Maevarm M2 and supplies power to the uDriver-v2.
  • The motherboard circuit layout is provided as Eagle files (unicycle_v2.3.sch and unicycle_v2.3.brd).