{"adoption": {"forks": 264, "observed_at": "2026-08-28T04:05:25.725518+00:00", "stars": 1710}, "canonical_url": "https://ross.abutalabs.com/products/foc-wheel-legged-robot", "card": {"archived": false, "artifact_type": "application", "description": "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", "domain": ["robotics", "embedded-systems", "hardware", "simulation", "cross-platform"], "enriched": true, "function": ["robotics", "embedded", "simulation", "machine-learning", "developer-tools"], "health_score": 20, "homepage": null, "language": "C", "license": "GPL-3.0", "license_family": "copyleft", "maturity": "stable", "member_repos": ["Skythinker616/foc-wheel-legged-robot"], "name": "Skythinker616/foc-wheel-legged-robot", "platform": ["iot", "python", "c"], "pushed_at": "2023-11-23T05:33:09+00:00", "repo": "Skythinker616/foc-wheel-legged-robot", "stars": 1710, "tags": ["foc", "wheel-legged-robot", "balance-robot", "brushless-motor", "simscape", "solidworks", "fpv", "open-hardware", "bipedal-wheeled", "stm32", "linux", "android"], "topics": ["android", "esp32", "foc", "fpv", "robot", "simscape-multibody", "solidworks", "stm32"], "urls": [], "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"], "what_it_is": "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.", "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"], "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"]}, "data_as_of": "2026-08-30T08:39:29.467469+00:00", "members": [{"path": "/products/foc-wheel-legged-robot", "repo": "Skythinker616/foc-wheel-legged-robot", "role": "main", "score": 28}], "provenance": {"archived": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "artifact_type": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "description": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "domain": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "enriched": {"inputs": [], "kind": "computed", "method": "enrichment_status"}, "function": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "health_score": {"inputs": ["days_since_push", "days_since_release", "archived"], "kind": "computed", "method": "health_v1"}, "homepage": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "language": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "license": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "license_family": {"inputs": ["license"], "kind": "computed", "method": "license_family"}, "maturity": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "member_repos": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "name": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "platform": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "pushed_at": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "repo": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "stars": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "tags": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "topics": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "urls": {"kind": "observed", "observed_at": "2026-08-28T04:05:25.725518+00:00", "source": "github"}, "use_cases": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "what_it_is": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "when_to_avoid": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}, "when_to_choose": {"confidence": null, "enriched_at": "2026-08-30T03:35:03.197523+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "cb298a36a0bab4410ad8cd4754329ca66b825f30a45418af0e8d8805bc5f5fb6", "fetched_at": "2026-08-28T04:05:25.725518+00:00", "kind": "readme", "missing": false, "url": "https://github.com/Skythinker616/foc-wheel-legged-robot"}], "taxonomy_version": 1}}, "score": {"components": {"activity": 0, "longevity": 81, "rhythm": 35}, "computed_at": "2026-09-02T17:46:02.011165+00:00", "flags": ["no_releases"], "formula": "round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)", "inputs": {"age_days": 1146, "days_push": 1014, "days_rel": null, "gap_med": null, "n_releases_24m": 0}, "score": 28, "version": 2}, "staleness": {"enrichment_outdated": false, "low_confidence": false, "scrape_days": 9, "stale_scrape": false}}