Wheeled-leg self balancing robot

I made this robot to test the Xiaomi CyberGear motors.
Controller - ESP32.
Two GM3506 motors (balancing wheels).
Two encoders - AS5600.
Two Simple FOC Mini drivers.
Two Xiaomi CyberGear motors as legs actuators.
Remote control vs PS4 controller (not original).
Two LiPo 3S 1000 mAh batteries.
Instagram / remrc

[@MirkoPavleskiMK]

All your projects are wonderful. I have recreated several and they work flawlessly. You deserve many many more subs and I hope you get them in the near future. I congratulate you

[@celalergun]

Beeping "...---..." after falling down is just hilarious! Good work. Congratulations.

[@ajeetjain29]

You are balancing bot king you deserve millions of subscribers

[@ajeetjain29]

Sir make me your assistant I want to be Indian version of rem rc🥺

[@Ernzt8]

You make it look so easy. Great job!

[@alongal407]

Very nice and tidy! Robot looks really good, this is really well done

[@giantisopod]

In the US: Billions of dollars of VC funding. Europe: Some dude builds them in his living room.

[@jcvikl]

EU Part 2: Danger. We need to regulate it. We will recruit 150 bureaucrats from among our acquaintances to oversee development.

[@itamariliuk]

Fantastic job! Congrats.

[@aladinmovies]

Nice work, excited

[@marcio6498]

Excellent job! Tutorial please.

[@machine2747]

Another cool project. Amazing!

[@HyperspacePirate]

love your work keep it up

[@user-qf6yt3id3w]

It reminds me of Star Wars droids. And, up to pretty recently, I'd have assumed was faked via CGI. It's amazing how you can build things like this out of stuff you can buy on the Internet these days.

[@Excalibur32]

That is a gorgeous project, thanks for sharing

[@quoctruongngo5560]

Very cool project! 👌👌👌👌

[@rodrigob]

Very nice build! Is there a blog post or instructable giving more details of the build? Why did you use two different motor types. Was it just what was at hand or because each had different requirements?

[@ReMRC]

These motors are very different. CyberGear motors with gears inside, so they have very high power. Suitable for robot legs where a lot of power is required. Also, I'm not using their full power. Balancing motors - I used what I had. The purpose of this project was to test the CyberGear motors.

[@aurora2621]

Wow. Finally

[@philippebenaim2676]

Excellent j'adore 😍 Can you give us some links to do same project? 🤔

[@ReMRC]

Sorry, I don't have any links...

[@christiane321]

So Cool!

[@abdullahcakan]

Your projects are excellent. Is it possible to log controller results or tracking online on computer like matlab or any other gui? Best..

[@ReMRC]

I didn't do that (controller results log) because I didn't need to. But of course it's possible.

[@abdullahcakan]

Thanks for replying ​@@ReMRC

[@burakaydn2315]

❤❤

[@OttoSphalta]

A great project, a cool implementation! I am currently firmware-ing a hoverboard to control its wheels like servos. I use the AS5600 sensors to determine the position of the wheel, they are cool) I assume that you used a PID controller to control the position of the foot motors? If so, how did you choose the coefficients? I came across the fact that when using hall sensors inside the wheel, the wheel can quickly turn to a given angle and stop without rocking, but with an external encoder, the wheel behaves differently. In the original firmware repository, where only hall sensors were used - P=2, the remaining coefficients = 0. So far, the selection of coefficients I and D has not given the expected results.

[@ReMRC]

"foot motors" is motors with controller inside. They are managed quite differently.

[@infinityrift_]

Hello, I have a question, could the Nidec 24h be used to replace the GM3506? If so, would gears be needed? due to torque. Nicee proyect

[@ReMRC]

It's possible, but such motors aren't really suitable for this robot.

[@infinityrift_]

@@ReMRC Vere que puedo hacer ;)

[@ismaeldahora]

Nice

[@robotics26]

Can u share which control logic did u use for balancing? PID?LQR or ML?

[@ReMRC]

LQR

[@rusencelik1272]

Would you mind sharing the design files? I want to build it

[@ReMRC]

Not now. Maybe later.

[@IMakeRobots]

How are you controlling the wheel torque? Is it closed loop velocity control or are you using current sensing. I am also using simple foc mini and same motors but my motors lift arround 100g only 😭

[@ReMRC]

Lift? Are you talking about the motors I use for balancing? These motors work with simple foc. However, the motors for the legs are completely different.

[@IMakeRobots]

@ReMRC yes motor for balancing. I have the same motors and simple foc mini driver. I am trying to balance but it looks like they cannot generate enough torque to balance the 500g load. I was curious how did you mange to do the balancing on such a big body. Are you using current contol to generate torque or its just closed loop velocity control.

[@ReMRC]

@@IMakeRobots Strange, there is no need for high torque here... I don't use current control. The reason lies somewhere else...

[@kh3nsin_himura148]

hi, iam indonesia, How to buy your project ? I will use for my thesis ..please ...😊

[@yxhankun]

esp32?

[@ReMRC]

Yes

[@joeshmo316]

Do you have any files for this? I'd love to build one

[@ReMRC]

No. You need to understand that 3D printing files would not do any good because it would only work if done exactly the same with the same parts.

[@joeshmo316]

@ReMRC yeah, I guess that's what I was asking. If you had any of the build information posted anywhere. I'm sure I can find the parts online

[@Knightfire66]

link to project?

[@ReMRC]

Only video. I already took it apart. I'll try to make a similar one, but better.

[@jw5gi]

Kod?

[@YaniqueRobinson-zj1ky]

Github??

[@ReMRC]

Currently - no. But maybe later...

[@PlanB-3751]

Can Helping my similar project with your code. Cheers 🎉

[@ReMRC]

Similar? Simple FOC, CyberGear motors?

[@iplaymytele]

Very Very Cool Excellent work…….! I can hear your clock in the background ….🎶❤️🎶 I have 4 Old German ( wall clocks ) Weight Driven Chimers 🕰️ That a doctor friend of mine gave me years ago…. They were all four completely in pieces …🙄 I mean everything….! it would take me two or three days to decipher what pieces went with which Clock , before I could start attempting to repair and reassemble them… “ Even the wood clock cases, and the glass to each clock had fallen apart over the years….! 🤔 All Four are hanging in different rooms in my house…! And all keep perfect time……👍🏻 ( Did you restore and repair your clock or did you buy it working? )….👍🏻