The Micro Wheeled-Leg Robot is a fully open-source, desktop-scale two-wheeled-leg balancing robot. Designed by Mu Shibo, it packs brushless FOC wheel motors, FEETECH STS3032 bus servos, an MPU6050 IMU, and an ESP32 microcontroller into the smallest form factor of its kind. Control it from any browser over WiFi — no app required.Documentation Index
Fetch the complete documentation index at: https://mintlify.com/MuShibo/Micro-Wheeled_leg-Robot/llms.txt
Use this file to discover all available pages before exploring further.
Introduction
Learn what the robot is, what it can do, and how all the subsystems fit together.
Build Guide
Step-by-step instructions for fabricating mechanical parts, assembling PCBs, and wiring everything up.
Firmware Setup
Install Arduino IDE and all required libraries, then flash the firmware to your ESP32.
Operation
Power on the robot, connect via WiFi, and drive it with the browser joystick interface.
What You Can Build
The Micro Wheeled-Leg Robot demonstrates desktop-scale dynamic balance with a leg-extension jump capability. It uses a custom LQR controller running entirely on-chip, with real-time tuning over a serial Commander interface and a WebSocket remote-control panel accessible from any smartphone or laptop.Hardware Reference
PCB schematics, Gerber files, and component BOM for all four custom boards.
Control System
Deep-dive into the LQR balance algorithm, PID cascade, and yaw/roll controllers.
WebSocket Protocol
JSON message format for the browser remote-control interface and WiFi configuration.
Key Features
SimpleFOC Wheel Drive
Field-oriented control on two BLDC motors using the L6234PD013TR driver and AS5600 magnetic encoders.
LQR Self-Balancing
On-chip Linear Quadratic Regulator with adaptive zero-point calibration keeps the robot upright at any leg height.
Leg Actuation & Jump
FEETECH STS3032 bus servos adjust leg height on the fly and execute a programmed jump sequence.
Browser Remote Control
WebSocket + JSON interface served directly from ESP32 flash — works on Android, iOS, Windows, macOS, and Linux.
All design files are open-source: 3D-printable STL parts, CNC drawings, PCB Gerbers, BOM spreadsheets, and Arduino firmware are available in the GitHub repository.