FOC Wheel Legged Balance Robot Project

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This is a complete robot project that includes algorithm simulation, mechanical structure design, electronic hardware design, embedded software design, and upper computer software design. It has accomplished the following:

• Mechanical structure design using SolidWorks
• Algorithm design and robot physics simulation based on MATLAB / Simulink / Simscape
• Brushless motor driver board based on STM32 using CAN communication
• Motion control module (main control module) based on ESP32 and MPU6050
• Linux image transmission module based on ffmpeg / ffserver, using a low-coupling plug-and-play solution
• Android remote control APP with Bluetooth pairing support

Demo & Introduction Video: https://www.bilibili.com/video/BV1bP411k75b/

Showcase

Mechanical Structure Renderings:

Simscape Multibody Simulation:

Robot Acceleration:

Fall Cushioning Performance:

Remote Control APP:

Repo Structure

The entire robot project is divided into several parts, each located in different directories within the repository, with more detailed explanations inside. Readers can check them as needed:

• solidworks: Mechanical structure design, including all parts and assembly model files
• matlab: Algorithm simulation, including model building, algorithm design, and simulation files
• stm32-foc: Brushless motor driver board, including hardware design files and STM32 code project
• esp32-controller: Motion control module, including hardware design files and ESP32 code project
• linux-fpv: Linux image transmission module, including related Shell scripts and Python scripts
• android: Android remote control APP, including source code and precompiled installation package

Note: The image transmission module is an optional module. Removing it will not affect other functions but will significantly reduce the cost and complexity of the project.

Material Cost

Note: The above prices are the actual purchase prices of the author and are for reference only. Please refer to the respective module's description for some purchase links.