StackForce Mini Wheeled-Legged - a kit for building a two-wheeled mobile robot

Description

StackForce Mini Wheeled-Legged Robot is a compact, two-legged wheeled robot designed as an educational and research platform for learning robotics, motion control, and stabilization algorithms. The robot combines features of a bipedal robot and a wheeled vehicle, enabling dynamic balancing, fast movement, and stable driving on various surfaces. Thanks to an advanced whole-body kinematics model and an adaptive stabilization algorithm, the robot can maintain balance even on uneven terrain and perform complex movements. The robot is equipped with 2208 gimbal-type brushless motors controlled by a controller using FOC (Field-Oriented Control) technology. This enables precise control of speed, position, and torque in both open-loop and closed-loop control modes. Such a solution ensures smooth motion and high stability during driving and maneuvering.

The core of the platform is a controller based on the ESP32 microcontroller, which offers high computing performance and a wide range of communication interfaces such as I2C, SPI, PWM, and others. This allows the robot to be easily expanded with additional sensors and modules, making it a flexible platform for experiments and the development of new features. The robot supports multiple control methods, including remote control via Wi-Fi, a Bluetooth controller, a serial port, and a traditional RC transmitter. Users can program the robot’s behavior and modify its control algorithms according to their needs. A built-in high-precision MT6701 magnetic encoder enables accurate measurement of motor position, resulting in stable motion control.

The platform has been designed as an open-source project, meaning that both the source code and design files are available to users. This makes it possible to conduct independent research, modify the mechanical structure, and develop new robot functions. The kit also includes detailed documentation, example programs, and training materials in the form of video courses. As a result, the robot can be used both by beginner robotics enthusiasts and by more advanced users working on control algorithms, stabilization systems, or autonomous robotics applications.

Features

• Two-legged wheeled robot (wheeled-legged robot)
• Open-source project – access to source code and design files
• Advanced whole-body kinematics model
• Adaptive posture stabilization algorithm
• Ability to operate in multiple positions and maintain stability on complex terrain
• Self-balancing functionality
• High-speed movement with stable orientation control
• Main board: StackForce Main Control Board
• Microcontroller: ESP32
• Available communication interfaces: I2C, SPI, PWM and others
• Motor driver board: 5 A dual-channel brushless motor driver
• Motor control technology: FOC (Field-Oriented Control)
• Supported control modes: speed, position, torque (open-loop and closed-loop)
• Motors: 2208 gimbal brushless motors
• Encoder: MT6701 14-bit high-precision magnetic encoder
• Servo control board: multi-channel controller with built-in IMU
• Supported control methods: Wi-Fi, Bluetooth controller, serial port, RC remote control
• Wireless controller: support for PS4 Bluetooth controller
• Power supply: 12.6 V lithium-polymer battery
• Dimensions: 10.5 × 21.0 cm
• Robot height: 12.0–21.0 cm
• Weight: 540 g

Kit contains

• StackForce Main Control Board main board
• StackForce 5A Low-Power Driver Board motor driver
• StackForce Servo Board servo control board
• 2 × MT6701 magnetic encoder
• 2 × 2208 gimbal brushless motor
• 4 × DS041MG 500–2500 servo motor
• MC6C-MINI remote control transmitter
• MC7RBv2 receiver
• 12 V Li-Po battery
• 2 × MR30-U motor connector
• 2 × SH1.0-5P encoder cable
• Dupont 3P cable set (female-female)
• Mechanical components set: M3 nuts, washers, nylon spacers, mounting screws
• Set of 3D-printed structural components (29 pcs)
• 2 × 1:10 wheels with high-durability tires