RM competition robot: omni-wheel chassis

An omni-wheel competition robot built to maneuver quickly in tight spaces. It also works as a base for teaching and further development. The team did the complete hardware, the chassis and gimbal mechanics, and the embedded software.

Black competition robot with number '3' armor plates lit by red LED strips, omni wheels and a gimbal on top, against a pink wall — Competition robot with armor plates lit

Tech stack

Chassis: Omni-wheel, omnidirectional mobility
Motor control: Multi-CAN motor control, CAN bus
Compute: Main controller with high-performance compute board
Power: Custom power distribution
Firmware: Kinematics, sensor fusion, RTOS-based task scheduling
Mechanics: Custom chassis and gimbal

What we built

Complete hardware design: multi-CAN motor control, power distribution, main controller, external sensor interfaces, compute-board integration
Mechanical design of chassis and gimbal
Embedded software: CAN bus control, kinematics, sensor fusion, RTOS task scheduling

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