# 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

Repository: https://github.com/Skythinker616/foc-wheel-legged-robot
Canonical: https://ross.abutalabs.com/products/foc-wheel-legged-robot
Language: C
License: GPL-3.0
License Family: copyleft
Topics: android, esp32, foc, fpv, robot, simscape-multibody, solidworks, stm32
Last push: 2023-11-23T05:33:09+00:00

## Health v2 (maintenance only)
Score: 28/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 81
- inputs: {"age_days": 1146, "days_push": 1014, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1710, forks 264 (observed 2026-08-28T04:05:25.725518+00:00)

## 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.

## 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
- artifact type: application
- maturity: stable
- function: robotics, embedded, simulation, machine-learning, developer-tools
- domain: robotics, embedded-systems, hardware, simulation, cross-platform
- platform: iot, python, c
- tags: foc, wheel-legged-robot, balance-robot, brushless-motor, simscape, solidworks, fpv, open-hardware, bipedal-wheeled, stm32, linux, android

## Member repositories
- Skythinker616/foc-wheel-legged-robot (main) score 28

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:25.725518+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:35:03.197523+00:00, confidence not recorded.
  - readme: https://github.com/Skythinker616/foc-wheel-legged-robot (fetched 2026-08-28T04:05:25.725518+00:00, sha cb298a36a0ba)
- Data as of 2026-08-30T08:39:29.467469+00:00.