Skythinker616/foc-wheel-legged-robot
Open source materials for a novel structured legged robot, including mechanical design, electronic design, algorithm simulation, and software development. | 一个新型结构的轮腿机器人开源资料，包含机械设计、电子设计、算法仿真、软件开发等材料 observed · 2026-08-28
Health v2 · maintenance only
28/100
- Activity 0
- Release rhythm 35
- Longevity 81
Flags: no_releases
How is this computed?
round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10) — computed 2026-09-02. Adoption (stars, forks) is never an input.
- gap_med: n/a
- age_days: 1146
- days_rel: n/a
- days_push: 1014
- n_releases_24m: 0
Adoption not part of the score
1710 stars · 264 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded
A complete open-source wheel-legged balancing robot project covering mechanical design (SolidWorks), physics simulation (MATLAB/Simulink/Simscape), custom FOC brushless motor driver boards (STM32), an ESP32-based motion controller, an optional Linux FPV video transmission module, and an Android remote control app. It includes all hardware design files, firmware source code, and a bill of materials totaling roughly 549-719 RMB.
Use cases
- build a two-wheeled balancing legged robot from scratch
- learn FOC brushless motor control with STM32
- simulate legged robot dynamics in Simscape Multibody
- design a low-cost open-source robot with ESP32 and MPU6050
- add FPV video streaming to a hobby robot
- control a robot with a custom Android Bluetooth app
- study mechanical design files for a wheel-leg robot
When to choose
- you want a complete end-to-end open-source robot with mechanical, electronic, and software files
- you need a low-cost (~$80) balancing robot reference design
- you want to learn FOC motor control, IMU-based balance, or Simscape simulation
- you prefer fully documented DIY projects with BOM and assembly details
When to avoid
- you need a production-grade or commercially supported robot platform
- you want a ROS-based robot with standard middleware
- you need high-payload or outdoor-capable legged robotics
- you cannot source custom PCBs or 3D-printed parts
Facets
application · maturity stable
robotics embedded simulation machine-learning developer-tools robotics embedded-systems hardware simulation cross-platform iot python c foc wheel-legged-robot balance-robot brushless-motor simscape solidworks fpv open-hardware bipedal-wheeled stm32 linux android
1 source
- readme: https://github.com/Skythinker616/foc-wheel-legged-robot · fetched 2026-08-28 · cb298a36a0ba
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| Skythinker616/foc-wheel-legged-robot | main | 28 |
For agents
markdown · JSON · MCP: product_card(name="Skythinker616/foc-wheel-legged-robot")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem