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WheelLeg FullStack Challenge Robot

A four-bar linkage wheel-leg robot designed for a full-stack robotics development challenge using ROS 2, CAD, and embedded systems.

  • Other
  • Open source
  • Work in progress
  • ROS 2
  • 3D model (URDF)
  • 3D printable

Suggested by Robotheca, created by @wusi321 (opens in a new tab), from github.com/wusi321/WheelLeg-FullStack-Challenge (opens in a new tab). Pinned to commit b6b12b0 (opens in a new tab).

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

Photo and 3D model

This repository has no photo of the robot yet.
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3D preview converted from github.com/wusi321/WheelLeg-FullStack-Challenge at b6b12b0, under MIT. View the original files from GitHub (359 KB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Simulated six-wheel-leg robot with forward, backward, steering and jumping motions
  • Controlled via ROS 2 topics for remote commands and sensor feedback
  • Supports Sim2Sim testing between simulation and real hardware
  • Uses CAN communication for six actuators and IMU data
  • Optionally integrates vision perception for closed-loop control

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Set up Ubuntu 22.04 and ROS 2 Humble environment
  2. 2Design CAD model and generate parameter tables
  3. 3Create URDF/Xacro robot description
  4. 4Set up Gazebo/ROS 2 simulation
  5. 5Develop C++ controller for movement
  6. 6Implement Sim2Sim (simulation-to-simulation) testing
  7. 7Integrate MCU, IMU, and CAN communication
  8. 8Develop vision perception and closed-loop control
  9. 9Configure Linux development environment
  10. 10Document AI tool usage and engineering process
  11. 11Prepare Git/GitHub collaboration and version control

The guide appears here as you scroll.

Guide by @wusi321 (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ROS 2 Humble on Ubuntu 22.04 host
  • CAN-capable microcontroller (MCU) for motor and IMU control
  • IMU for attitude and motion sensing
  • Six actuators (two legs per side and one wheel per leg)
  • Optional USB-CAN adapter or virtual CAN interface (vcan0)
  • Camera for vision perception (optional)

Connections

  • MCU connected to IMU via I2C or SPI
  • MCU connected to six actuators via CAN bus
  • Host computer connected to MCU via USB-TTL or CAN for command and telemetry
  • Camera connected to host via USB for vision input (optional)
  • CAN bus uses protocol defined in docs/can_protocol.md