Wheel-legged self-balancing robot

A hybrid wheel-leg balancing robot built on an STM32 controller. It balances on two wheels for fast driving and uses servo-driven legs to lift one or both sides over obstacles. A 2.4 GHz handheld remote handles driving, speed switching and leg lifting.

Three views of a white 3D-printed two-wheel robot with servo-driven legs, on a white background: top view, one side with a leg lifted, and the rear panel with switch and ports
Three views of the robot

Tech stack

Main controller
STM32F4 series MCU
Sensors
MPU-6050 IMU for attitude sensing
Drive
Dual DC gear motors, differential steering
Legs
Four 35 kg·cm digital servos for leg lift and tilt, synchronous 50 Hz PWM
Balance control
Complementary or Kalman filter sensor fusion, PID or LQR balancing, safe landing / alarm on imbalance
Wireless
2.4 GHz dual-joystick remote controller
Power
3S 11.1 V lithium battery with low-voltage protection
Expansion
UART / I2C / PWM interfaces

What we built

  • Mechanical integration and structural design
  • Control board and power design
  • Embedded firmware and motion control
  • Wheel/leg mode switching and remote-control functions
  • Debugging, testing and bring-up

Development time

20 days

Photos and design files

White handheld remote with two joysticks and two groups of buttons, on a white background
2.4 GHz remote controller

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