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    {"id":"jennagorton-ball-balancer","kind":"project","category":"robots","title":"Ball-Balancer","authors":[],"org":"jennagorton","year":null,"url":"https://github.com/jennagorton/Ball-Balancer","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Code and STL files for ball balancing robot","assessment":{"built":"works","supply":"commodity","cost":"under100","make":"print","docs":"guide","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"hobby servos; cost not stated","ctrl":"Code open (Arduino)","limit":"unknown"},"caveat":"A servo ball balancer; no numbers or test method in the README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"80154dd7f2d62fc6","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"i-m-robotics-lab-ball-balancing-robot","kind":"project","category":"robots","title":"Ball-Balancing-Robot","authors":[],"org":"I-M-Robotics-Lab","year":null,"url":"https://github.com/I-M-Robotics-Lab/Ball-Balancing-Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Educational ball-balancing robot","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"Hobby servos on PCA9685; cost not stated","ctrl":"Open Python vision and PID code","limit":"Mechanical slop or binding hurts stability"},"caveat":"Video link only; no tracking accuracy or latency numbers; GPL.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"18828410564fd89a","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"koshirorobot-ball-balancing-robot","kind":"project","category":"robots","title":"Ball-Balancing-Robot","authors":[],"org":"KoshiroRobot","year":null,"url":"https://github.com/KoshiroRobot/Ball-Balancing-Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Ball balance robot parts files and program","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"unknown","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"No README, so only the one-line note supports any claim.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"94cf229fd0fcc8f2","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
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    {"id":"cmjang-ddtrobot-lab","kind":"project","category":"simulation-and-control","title":"ddtrobot_lab","authors":[],"org":"cmjang","year":null,"url":"https://github.com/cmjang/ddtrobot_lab","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Direct Drive Technology Robotics RL project","assessment":{"built":"product","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"Isaac Lab 2.2 with RSL-RL; Tita model from vendor, not detailed","real":"Not stated; gifs show three simulators"},"caveat":"Commercial robot only; README has no results, model details or numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"9102b3e5d37d7ca8","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"vitruzicka-dynbalabot","kind":"project","category":"robots","title":"dynbalabot","authors":[],"org":"VitRuzicka","year":null,"url":"https://github.com/VitRuzicka/dynbalabot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Hobby Ascento-style two-legged balancer.","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"needs-pcb-or-winding","docs":"basic","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"hoverboard hub motors; knee steppers via CAN planned","ctrl":"unknown","limit":"Author says proof of concept; pcbv1 had design errors"},"caveat":"Author calls it a proof of concept; no balance results or CAD.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"7ef1a6c34e95cd59","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"trandi-esp32-self-balancing-robot","kind":"project","category":"robots","title":"esp32-self_balancing_robot","authors":[],"org":"trandi","year":null,"url":"https://github.com/trandi/esp32-self_balancing_robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Printed balancer; IMU placement notes.","assessment":{"built":"built","supply":"commodity","cost":"under100","make":"print","docs":"basic","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"two stepper motors via DRV8825; cost unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is one line; no results, files or build notes beyond the title.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"d2ad025a9fe8d3be","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"skythinker616-foc-wheel-legged-robot","kind":"project","category":"robots","title":"foc-wheel-legged-robot","authors":[],"org":"Skythinker616","year":null,"url":"https://github.com/Skythinker616/foc-wheel-legged-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Most-starred full stack: SolidWorks folder, FOC boards, STM32 and ESP32 code, Simscape model. No measured results in the README.","assessment":{"built":"works","supply":"scarce","cost":"under100","make":"needs-pcb-or-winding","docs":"guide","activity":"dormant","role":"leader","cad":{"seen":"F"},"answers":{"size":"unknown","act":"4010 and 2804 BLDC, custom STM32 FOC boards; about 200 RMB for four 4010","ctrl":"Yes, Simscape model and firmware open, GPL-3.0","limit":"unknown"},"caveat":"Custom STM32/ESP32 boards and SolidWorks files; no measured results in README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"70d6de221c8d2ae1","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"fosdem-lessons-from-upkie-wheeled-bipeds","kind":"video","category":"design-guides","title":"FOSDEM: lessons from Upkie wheeled bipeds","authors":[],"org":"fosdem.org","year":null,"url":"https://fosdem.org/schedule/event/8PUMMD-open-source-robotics-practice-upkie-wheeled-bipeds","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'talk'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Lessons from running an open robot project.","used_for":[],"imported":"2a237361306b709e","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"liudingchuan-graduate-project","kind":"project","category":"simulation-and-control","title":"Graduate_Project","authors":[],"org":"LiuDingchuan","year":null,"url":"https://github.com/LiuDingchuan/Graduate_Project","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Webots wheeled bipedal robot, model-based LQR","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"guide","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"engine":"Webots 2020a, C++ with Eigen, MATLAB LQR; SolidWorks-based model","real":"No; author says simulation verifies the theory only"},"caveat":"Simulation only, Webots 2020a required, no licence and no real-robot test.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"5b99d091e282ccc0","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"luseka-hoverbot","kind":"project","category":"robots","title":"HoverBot","authors":[],"org":"LuSeKa","year":null,"url":"https://github.com/LuSeKa/HoverBot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["cnc"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Self-balancing robot using hoverboard hub motors","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"guide","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"Two hoverboard hub motors and ODrive v3.5; cost not stated","ctrl":"Open Arduino code","limit":"No velocity feedback; falls forward if driven too fast"},"caveat":"Deprecated repo; wiring called highly experimental; RC-driven, no velocity feedback so it falls if too fast.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"019530f95e17f091","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"huguoxuang-hyun","kind":"project","category":"robots","title":"Hyun","authors":[],"org":"HuGuoXuang","year":null,"url":"https://github.com/HuGuoXuang/Hyun","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Wheel-leg robot: ESP32, MPU6050, BLDC, SimpleFOC driver","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"needs-pcb-or-winding","docs":"guide","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"PM3510 BLDC with SimpleFOC driver; cost not stated","ctrl":"Open ESP32 Arduino code","limit":"Motor magnet noise; added code causes jitter"},"caveat":"README is Chinese with video links and PCB pictures only; no numbers or BOM in text.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"6f08ba87b3a64b2e","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"jaykorea-isaac-rl-two-wheel-legged-bot","kind":"project","category":"simulation-and-control","title":"Isaac-RL-Two-wheel-Legged-Bot","authors":[],"org":"jaykorea","year":null,"url":"https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Popular Isaac Lab recipe.","assessment":{"built":"works","supply":"unknown","cost":"unknown","make":"unknown","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"engine":"Isaac Lab, rsl_rl; Flamingo robot model","real":"Zero-shot transfer shown in media; no numbers"},"caveat":"Sim-to-real shown only as media; no quantitative results in README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"f9f4dde19a551811","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"mindthomas-kugle-matlab","kind":"project","category":"robots","title":"Kugle-MATLAB","authors":[],"org":"mindThomas","year":null,"url":"https://github.com/mindThomas/Kugle-MATLAB","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'NOASSERTION'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"measured"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Kugle ballbot project main repository","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"machined","docs":"full","activity":"dormant","role":"leader","cad":{"seen":"U"},"answers":{"size":"16 kg prototype","act":"three omniwheel motors; cost not stated","ctrl":"Yes: MATLAB, Simulink, firmware and ROS repos, MIT","limit":"Quaternion model deemed unnecessary for the operating envelope"},"caveat":"Ballbot with omniwheels; MATLAB code is the main content and the hardware is heavy.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"bb8b9b84ddbd1d8b","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"wyxh2004-letian","kind":"project","category":"robots","title":"LeTian","authors":[],"org":"wyxh2004","year":null,"url":"https://github.com/wyxh2004/LeTian","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Replica of self-balancing wheeled robot","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"needs-pcb-or-winding","docs":"basic","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"48x48 mm control board; robot size unknown","act":"Gimbal-class BLDC under SimpleFOC; cost unknown","ctrl":"Code snippets only in README","limit":"unknown"},"caveat":"Little proof it balances; no photos of the built robot or tests in the README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"c82ab0abd68a83ca","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"limxdynamics-tron2-robot-description","kind":"project","category":"robots","title":"LimX TRON2 description","authors":[],"org":"limxdynamics","year":null,"url":"https://github.com/limxdynamics/tron2-robot-description","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Commercial wheel-legged biped: URDF, MuJoCo XML, USD and meshes per its description.","assessment":{"built":"product","supply":"scarce","cost":"over2000","make":"buy-and-assemble","docs":"guide","activity":"active","role":"reference","cad":{"seen":"F"},"answers":{"size":"WF model mass about 34.9 kg (TRON2A)","act":"unknown","ctrl":"Yes, URDF, MJCF and USD models open, Apache-2.0","limit":"unknown"},"caveat":"Commercial robot, mass 35 kg; models are not buildable hardware designs.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"a5940912753f5c56","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"zhaozijie2022-locowheeledlegged","kind":"project","category":"simulation-and-control","title":"LocoWheeledLegged","authors":[],"org":"zhaozijie2022","year":null,"url":"https://github.com/zhaozijie2022/LocoWheeledLegged","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"RL wheeled-legged locomotion sim-to-real in Isaac","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"engine":"Isaac Lab 2.2.1/Isaac Sim 5.1; Go2W model","real":"Real robot gifs for grass, stairs, stone, bridge; sim2real deploy code"},"caveat":"Unitree Go2W quadruped, not balancing wheel-leg; no licence; demos only, no numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"044e59c0ba22b2af","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"hawking-z-lqr-phc","kind":"project","category":"robots","title":"LQR_phc","authors":[],"org":"Hawking-z","year":null,"url":"https://github.com/Hawking-z/LQR_phc","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"LQR balance car with self-drawn board and mechanics","assessment":{"built":"works","supply":"commodity","cost":"under100","make":"needs-pcb-or-winding","docs":"basic","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"small car; no figures","act":"MG513P30 12 V geared DC motors; cost not stated","ctrl":"Code, MATLAB LQR and Altium files open","limit":"Motor backlash causes small oscillation at standstill"},"caveat":"Basic STM32F103 LQR car with brushed motors; no numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"a9a78c6f05bc36c5","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"mushibo-micro-wheeled-leg-robot","kind":"project","category":"robots","title":"Micro-Wheeled_leg-Robot","authors":[],"org":"MuShibo","year":null,"url":"https://github.com/MuShibo/Micro-Wheeled_leg-Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print","cnc","pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Desktop-scale two-wheel-leg robot","assessment":{"built":"replicated","supply":"specialty","cost":"unknown","make":"needs-pcb-or-winding","docs":"guide","activity":"slow","role":"leader","cad":{"seen":"U"},"answers":{"size":"Desktop scale, no dimensions stated","act":"FOC wheel BLDC motors plus bus servo legs; cost not stated","ctrl":"Open Arduino SimpleFOC code","limit":"Not stated"},"caveat":"README gives no balance performance numbers or BOM costs; no licence declared; parts mix is Chinese-market sourcing.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"680e2163c0dc8a37","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"wheelbot-mini-wheelbot","kind":"project","category":"robots","title":"Mini-Wheelbot","authors":[],"org":"wheelbot","year":null,"url":"https://github.com/wheelbot/Mini-Wheelbot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Balancing reaction wheel unicycle robot","assessment":{"built":"replicated","supply":"scarce","cost":"unknown","make":"needs-pcb-or-winding","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"small form factor; no mass stated","act":"custom motor controllers (uMotor, up to 250 W); cost unknown","ctrl":"Yes: C++ lib, Python scripts, acados simulation","limit":"unknown"},"caveat":"Custom PCBs and motor controllers; README gives no BOM or numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"40228408700362aa","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"andreafavero71-mirrorballbot","kind":"project","category":"robots","title":"mirrorballbot","authors":[],"org":"AndreaFavero71","year":null,"url":"https://github.com/AndreaFavero71/mirrorballbot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'NOASSERTION'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print","sheet","cnc","pcb"],"evidence":{"class":"snippet-only","numbers":"measured"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Ball balancing robot that sees through a mirror","assessment":{"built":"works","supply":"specialty","cost":"100to500","make":"print+cut","docs":"full","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"platform with 3 NEMA17; mass not stated","act":"3x NEMA17 steppers with TMC2209; cost not stated","ctrl":"Open code, STL and STEP, two manuals","limit":"unknown"},"caveat":"A ball balancer on a platform, not a wheeled or legged robot.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"7c5af21505f68ad3","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"stephane-caron-mpc-balancer","kind":"project","category":"simulation-and-control","title":"mpc_balancer","authors":[],"org":"stephane-caron","year":null,"url":"https://github.com/stephane-caron/mpc_balancer","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"MPC to balance Upkie wheeled bipeds","assessment":{"built":"replicated","supply":"specialty","cost":"unknown","make":"unknown","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"Upkie's Bullet-based sim plus real robot; MPC in Python with ProxQP","real":"Runs on real Upkie per install steps; no results shown"},"caveat":"Pinned to Upkie 8.0.0 software; README shows no results or numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"d0f9ae2fc22cd817","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"peng-zhihui-one-robot","kind":"project","category":"robots","title":"ONE-Robot","authors":[],"org":"peng-zhihui","year":null,"url":"https://github.com/peng-zhihui/ONE-Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Unicycle self-balancing robot with IMU and STM32","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"print+cut","docs":"basic","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"DC motors with encoders; cost unknown","ctrl":"Firmware source open","limit":"Control board circuit lost"},"caveat":"Circuit is lost; the README says the control board design is gone.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"d3f21f6d425753df","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"steven0928-open-rlbw","kind":"project","category":"robots","title":"Open-RLBW","authors":[],"org":"Steven0928","year":null,"url":"https://github.com/Steven0928/Open-RLBW","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Wheeled biped with deep-RL control.","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"none","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is a title and video link; no details on hardware or training.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"3788580067512df6","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"n-b-studio-open-wheel-legged-balance-bot","kind":"project","category":"robots","title":"Open-wheel-legged-balance-bot","authors":[],"org":"N-B-Studio","year":null,"url":"https://github.com/N-B-Studio/Open-wheel-legged-balance-bot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Fully printed 8-DOF wheel-legged bot.","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"print","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"STM32 firmware open; ROS2 and AI folders are placeholders","limit":"unknown"},"caveat":"Third-party actuators and DOF details unclear; README mostly project layout, no metrics.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"263755296438ec21","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"salehiac-openballbot-rl","kind":"project","category":"simulation-and-control","title":"OpenBallBot-RL","authors":[],"org":"salehiac","year":null,"url":"https://github.com/salehiac/OpenBallBot-RL","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"MuJoCo ballbot simulator and RL","assessment":{"built":"concept","supply":"commodity","cost":"unknown","make":"unknown","docs":"guide","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"MuJoCo (patched) with RL PPO; custom ballbot model","real":"No; simulation only per README"},"caveat":"Ballbot, not wheel-leg; requires building patched MuJoCo from source; RL demos are simulation only.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"c095fcf50b62eadc","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"seungbinoh-pow-wbr-project","kind":"project","category":"simulation-and-control","title":"Pow_WBR_Project","authors":[],"org":"SeungbinOh","year":null,"url":"https://github.com/SeungbinOh/Pow_WBR_Project","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"C++ code for university capstone wheeled bipedal robot","assessment":{"built":"built","supply":"commodity","cost":"100to500","make":"buy-and-assemble","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"No simulation described; ESP32 C++ controller","real":"Hardware list implies real build; no results shown"},"caveat":"README is mostly AliExpress links; no performance data or photos in the README text.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"f451dc6e32fd77b7","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"zeitvex-rc-wheelleg","kind":"project","category":"robots","title":"RC_WheelLeg","authors":[],"org":"zeitvex","year":null,"url":"https://github.com/zeitvex/RC_WheelLeg","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["cnc","pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Robocon wheeled quadruped, RL, MuJoCo, sim2real","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"machined","docs":"full","activity":"active","role":"leader","cad":{"seen":"U"},"answers":{"size":"16 DOF, four wheel-legs; mass not stated","act":"16 RS02 actuators; price not stated","ctrl":"RL, MuJoCo, Sim2Real code, SolidWorks and STEP open","limit":"Hang robot first; verify motor IDs, zeros, limits before power"},"caveat":"README is Chinese and reported 7th at Robocon national, not an independent test; no cost.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"7cc4c048b4222071","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"g-levine-rhea-description","kind":"project","category":"simulation-and-control","title":"rhea_description","authors":[],"org":"G-Levine","year":null,"url":"https://github.com/G-Levine/rhea_description","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"URDF model for the Rhea wheeled biped","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"unknown","docs":"basic","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"engine":"URDF from Blender via Phobos; no MuJoCo","real":"Links to a real-robot hardware interface; no validation shown"},"caveat":"README is three lines: no masses, inertias or joint limits stated, and no validation.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"bd1475223233bd0c","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"yahboomtechnology-rider-pi-robot","kind":"project","category":"robots","title":"Rider-Pi-Robot","authors":[],"org":"YahboomTechnology","year":null,"url":"https://github.com/YahboomTechnology/Rider-Pi-Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Two wheel-legged robot, Raspberry Pi CM4","assessment":{"built":"product","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"none","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"desktop size; no figures","act":"unknown","ctrl":"closed; no code details in README","limit":"unknown"},"caveat":"Sales README with no design files, numbers or limits.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"af9f9ad4bc206d83","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"chen-jiangnan-rminfantry-wheellegged-ws","kind":"project","category":"simulation-and-control","title":"RMInfantry_wheelLegged_ws","authors":[],"org":"chen-jiangnan","year":null,"url":"https://github.com/chen-jiangnan/RMInfantry_wheelLegged_ws","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"ROS2 wheel-legged control and simulation, two platforms","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"unknown","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"engine":"MuJoCo, ROS2; cyclBot and seriBot URDF/MJCF from own meshes","real":"Hardware driver layer exists (DJI, DM motors); no validation shown"},"caveat":"No performance numbers or photos in the README; licence missing; Chinese text; RoboMaster-class robots.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"8faf7c36fe67b1a7","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"williamgwok-rp-balance","kind":"project","category":"robots","title":"RP_Balance","authors":[],"org":"WilliamGwok","year":null,"url":"https://github.com/WilliamGwok/RP_Balance","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Five-bar wheel-legged RoboMaster base. MATLAB modelling and a Webots sim; no CAD seen. Chinese README.","assessment":{"built":"works","supply":"unknown","cost":"unknown","make":"unknown","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"N"},"answers":{"size":"unknown","act":"unknown","ctrl":"Yes, MATLAB models and Webots controller, MIT","limit":"unknown"},"caveat":"Modelling code only; no CAD or BOM, and test videos are linked, not described.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"63b60ff69b63dc03","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"lukearend-scratch","kind":"project","category":"robots","title":"scratch","authors":[],"org":"lukearend","year":null,"url":"https://github.com/lukearend/scratch","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print","cnc"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open-source self-balancing robot built from scratch","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"print+cut","docs":"full","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown from the opening; Arduino Mega and gamepad driven","ctrl":"Code open","limit":"unknown"},"caveat":"Older Arduino-class design; very long README with few measured numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"2e0fa0e50592732d","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"pbhutia111-self-balancing-robot","kind":"project","category":"robots","title":"self-balancing-robot","authors":[],"org":"pbhutia111","year":null,"url":"https://github.com/pbhutia111/self-balancing-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Two-wheeled PID balancing robot: code, CAD files, wiring","assessment":{"built":"concept","supply":"commodity","cost":"unknown","make":"print","docs":"basic","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"2x GM4108H gimbal motors; cost unknown","ctrl":"Code folder planned, not yet uploaded","limit":"Code still in progress, waiting for motors"},"caveat":"Author states the code is not written yet; no evidence it balances.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"cc29f817fda585e0","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"cyiyang-serial-wheel-leg","kind":"project","category":"robots","title":"serial-wheel-leg","authors":[],"org":"cyiyang","year":null,"url":"https://github.com/cyiyang/serial-wheel-leg","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Damiao open-source wheel-leg robot, vision, MATLAB and Webots sim","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"print+cut","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Damiao motors (via upstream); cost unknown","ctrl":"Code, MATLAB and Webots sim open","limit":"unknown"},"caveat":"Fork note only; real hardware and results are not shown in the README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"4fd7742b2598dc59","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"multivac11-small-wheeled-robot","kind":"project","category":"robots","title":"Small-wheeled-robot","authors":[],"org":"Multivac11","year":null,"url":"https://github.com/Multivac11/Small-wheeled-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Small wheel-foot robot","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"none","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is near-empty (26 bytes); only the note describes it.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"b2a1298b4c3df4e0","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"seeed-projects-stackforce-mini-wheeled-legged-robot","kind":"project","category":"robots","title":"Stackforce_Mini_Wheeled_Legged_Robot","authors":[],"org":"Seeed-Projects","year":null,"url":"https://github.com/Seeed-Projects/Stackforce_Mini_Wheeled_Legged_Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Mini wheeled-legged robot","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"mini robot; no figures","act":"unknown","ctrl":"Course code in PlatformIO; updated per lesson","limit":"unknown"},"caveat":"README is brief; evidence is a linked video course, not shown in the file.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"89351fa56b461d19","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"limxdynamics-tron1-mujoco-sim","kind":"project","category":"simulation-and-control","title":"tron1-mujoco-sim","authors":[],"org":"limxdynamics","year":null,"url":"https://github.com/limxdynamics/tron1-mujoco-sim","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"MuJoCo sim for TRON1 point-foot, sole-foot, wheel-foot","assessment":{"built":"product","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"full","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"engine":"MuJoCo 3.x, MJCF from limx robot-description; PD at 1 ms","real":"Sim-to-sim then hardware; same limxsdk interface, no numbers shown"},"caveat":"Needs Python 3.8 limxsdk wheels; wheel-foot sim needs a real-time machine; bipedal, not five-bar.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"7744d6eb705db2b8","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"upkie-upkie","kind":"project","category":"robots","title":"Upkie","authors":[],"org":"upkie","year":null,"url":"https://github.com/upkie/upkie","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Best documented open wheeled biped: build wiki, Python/C++ stack, Hackaday log and a FOSDEM talk. Parts live in upkie_parts.","assessment":{"built":"replicated","supply":"specialty","cost":"over2000","make":"buy-and-assemble","docs":"full","activity":"active","role":"leader","cad":{"seen":"U"},"answers":{"size":"unknown","act":"mjbots actuators, off-the-shelf; price not stated","ctrl":"Yes, Python library, Apache-2.0, PyBullet sim","limit":"unknown"},"caveat":"Needs mjbots actuators; README gives no measured balance numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"1dc2dd1d8286c87a","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"upkie-hackaday-log","kind":"article","category":"design-guides","title":"Upkie Hackaday log","authors":[],"org":"hackaday.io","year":null,"url":"https://hackaday.io/project/185729","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'log'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Build log with cost estimate. Not opened.","used_for":[],"imported":"ea916c85e2f874a9","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"upkie-upkie-description","kind":"project","category":"simulation-and-control","title":"upkie_description","authors":[],"org":"upkie","year":null,"url":"https://github.com/upkie/upkie_description","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"URDF and Xacro descriptions for Upkie wheeled bipeds","assessment":{"built":"replicated","supply":"specialty","cost":"unknown","make":"print","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"engine":"URDF/Xacro for Pinocchio and others; derived from Upkie CAD and mjbots meshes","real":"Used with the real Upkie robot per linked project; no validation here"},"caveat":"Model is a wheeled biped with mjbots actuators, not five-bar legs; README states no numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"951c1a7cdab8e467","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"upkie-upkie-parts","kind":"project","category":"robots","title":"upkie_parts","authors":[],"org":"upkie","year":null,"url":"https://github.com/upkie/upkie_parts","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"FreeCAD and STL files for Upkie's torso, legs and add-ons. Uses Git LFS. Hex wheel hub variant is easier to adapt but more brittle.","assessment":{"built":"replicated","supply":"specialty","cost":"unknown","make":"print","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"V"},"answers":{"param":"FreeCAD FCStd files plus STL","valid":"unknown"},"caveat":"Hex wheel hub variant is easier to adapt but more brittle; Git LFS needed.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"b10b2b501eb2d5bd","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"track-tech-venus-1-four-link-wheel-legged-robot","kind":"project","category":"robots","title":"Venus-1 four-link wheel-legged","authors":[],"org":"track-tech","year":null,"url":"https://github.com/track-tech/Venus-1__Four-link-wheel-legged-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Four-link leg, not five-bar. Large mechanical release.","assessment":{"built":"works","supply":"specialty","cost":"100to500","make":"print+cut","docs":"full","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Xiaomi CyberGear joints, DJI M2006 wheels; cost table in RMB","ctrl":"Firmware open, PID only; no sim model seen","limit":"M2006 gearbox backlash jitters at balance point; yaw drift; CyberGear needs zero re-calibration"},"caveat":"Author warns of design defects and advises caution before replicating.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"97d23f11251c144d","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"hnust-dust-wbr-control","kind":"project","category":"robots","title":"wbr_control","authors":[],"org":"HNUST-Dust","year":null,"url":"https://github.com/HNUST-Dust/wbr_control","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Serial wheel-leg robot control: LQR/VMC, Zephyr, HPM6750","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"machined","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"about 25 kg","act":"unknown","ctrl":"Firmware open, Zephyr, LQR/TinyMPC","limit":"Onboard IMU axes not yet verified on hardware"},"caveat":"Numbers are stated without test method; axis mapping is not confirmed on the real robot.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"053f81659f684e2a","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"jinhemu-wheel-leg-robot","kind":"project","category":"robots","title":"Wheel-Leg-Robot","authors":[],"org":"JinHeMu","year":null,"url":"https://github.com/JinHeMu/Wheel-Leg-Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Wheel-leg robot design","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"basic","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"4x DM4310 joints, 2x DM6215 hub motors; cost not stated","ctrl":"STM32 firmware (RT-Thread Nano); no sim model mentioned","limit":"RT-Thread console arrow-key issue only; CLion build failed"},"caveat":"README is a short intro; no photos, results or CAD description, despite the design-focused note.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"5abc70c0aa111e88","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"ziyuliu66-wheel-legged-robot-matlab-simulation-collection","kind":"project","category":"simulation-and-control","title":"Wheel-legged MATLAB collection","authors":[],"org":"ziyuliu66","year":null,"url":"https://github.com/ziyuliu66/Wheel-legged-robot-MATLAB-simulation-collection","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Five-, two- and four-link models side by side.","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"MATLAB 2022b or later; models by author","real":"unknown"},"caveat":"Author says two of the three projects contain clutter and are unmaintained.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"0f6081ed5762e2a3","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"wheel-legged-robot-with-lqr-and-adrc","kind":"paper","category":"design-guides","title":"Wheel-legged robot with LQR and ADRC","authors":[],"org":"ncbi.nlm.nih.gov","year":null,"url":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10499820/","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'paper'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Cites the five-bar decoupling.","used_for":[],"imported":"5a347eaa8b3ea19c","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"vesto-design-wheel-legged-biped-robot","kind":"project","category":"robots","title":"wheel-legged-biped-robot","authors":[],"org":"Vesto-Design","year":null,"url":"https://github.com/Vesto-Design/wheel-legged-biped-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'NOASSERTION'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Wheel-legged biped robot","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"4.3 kg, 0.55 m standing height (model)","act":"none; wheel torque 20 Nm and leg 50 Nm in model","ctrl":"Yes: MuJoCo MJCF and ROS 2 URDF","limit":"unknown"},"caveat":"Simulation model only; custom licence limits reuse and no hardware is built.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"60a6d5ead62c9a8f","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"doonns-wheel-legged-bot","kind":"project","category":"robots","title":"WHEEL-LEGGED-BOT","authors":[],"org":"Doonns","year":null,"url":"https://github.com/Doonns/WHEEL-LEGGED-BOT","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Described as five-bar wheel-legged, but the repo holds ROS software and a URDF folder only. No CAD seen.","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"slow","role":"context","cad":{"seen":"N"},"answers":{"size":"unknown","act":"unknown","ctrl":"ROS2 packages and URDF open; balance control not described","limit":"unknown"},"caveat":"README is software modules only; no hardware, CAD or balance evidence despite note.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"b9b91b6a23b34d00","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"jacklindun-wheel-legged-control","kind":"project","category":"simulation-and-control","title":"wheel-legged-control","authors":[],"org":"jacklindun","year":null,"url":"https://github.com/jacklindun/wheel-legged-control","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"ROS and MuJoCo wheel-legged simulation","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"MuJoCo via custom ROS2 node; wheelleg_robot.xml, origin not stated","real":"No; hardware launch partly unbuilt"},"caveat":"MuJoCo paths are hard-coded; several launch nodes are not built; no results.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"d53ae59a1af648e7","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"zyicome-wheel-legged-lab","kind":"project","category":"simulation-and-control","title":"Wheel-Legged-Lab","authors":[],"org":"zyicome","year":null,"url":"https://github.com/zyicome/Wheel-Legged-Lab","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Isaac Lab wheel-legged environment.","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"engine":"Isaac Lab, RSL-RL PPO; open-chain wheel-legged model by author","real":"No, README says real deployment not done"},"caveat":"Author states no real-robot deployment or sim-to-real validation yet.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"332c1a950e6ddc5b","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"multivac11-wheel-legged-robot-main-code","kind":"project","category":"robots","title":"Wheel-legged-robot--Main_Code","authors":[],"org":"Multivac11","year":null,"url":"https://github.com/Multivac11/Wheel-legged-robot--Main_Code","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Solo mechanical, hardware, control wheel-foot robot project","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"print+cut","docs":"guide","activity":"slow","role":"leader","cad":{"seen":"U"},"answers":{"size":"12.9 kg total; wheel radius 75 mm; leg 150/270 mm","act":"Unitree A1 joints (RS485), DJI 3508 wheels; cost not stated","ctrl":"Code open (STM32H7, VMC); LQR gains from MATLAB","limit":"A1 loop dropped 1 kHz to 500 Hz; twitching after long runs"},"caveat":"Unitree A1 and DJI 3508 actuators with serial or CAN links.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"206c6c0b3e68e01d","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"jianboliao-wheel-legged","kind":"project","category":"simulation-and-control","title":"wheel_legged","authors":[],"org":"JianBoLiao","year":null,"url":"https://github.com/JianBoLiao/wheel_legged","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Webots wheel-foot simulation","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"Webots; model origin not stated","real":"No"},"caveat":"Ignores constraints (no OSQP), Webots only, and the README is a MPC tutorial.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"116e13acb4bcd2e4","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"albusgive-wheel-legged-genesis","kind":"project","category":"simulation-and-control","title":"wheel_legged_genesis","authors":[],"org":"Albusgive","year":null,"url":"https://github.com/Albusgive/wheel_legged_genesis","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Wheel-legged RL in Genesis.","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"engine":"Genesis, rsl_rl; sim2sim in MuJoCo","real":"unknown"},"caveat":"No real-robot validation stated; Genesis install needs main branch.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"a2df5efaff85c0ef","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"wheeled-bipedal-robot-lqr-and-pd","kind":"paper","category":"design-guides","title":"Wheeled bipedal robot, LQR and PD","authors":[],"org":"ncbi.nlm.nih.gov","year":null,"url":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12431389/","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'paper'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Hybrid LQR-PD with height control.","used_for":[],"imported":"2dd3e77f7c664f72","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"silvery107-wheeled-bipedal-jumping","kind":"project","category":"simulation-and-control","title":"wheeled-bipedal-jumping","authors":[],"org":"silvery107","year":null,"url":"https://github.com/silvery107/wheeled-bipedal-jumping","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"AGPL-3.0","class":"share-alike","read":false,"note":"The map states 'AGPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Height control and torque planning for wheeled-bipedal jumping","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"engine":"Webots R2021a, Python; robot_specifications.txt, model origin not stated","real":"No; simulation video only"},"caveat":"Old (2021) Webots model, simulation video only; AGPL licence.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"a8c5ebe8ab9357d6","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"fernandomierhicks-wheeled-leg-robot","kind":"project","category":"robots","title":"wheeled-leg-robot","authors":[],"org":"fernandomierhicks","year":null,"url":"https://github.com/fernandomierhicks/wheeled-leg-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Two-wheeled legged balancer with MuJoCo sim, firmware and LQR. Very recent.","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"unknown","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"Note says sim and firmware exist","limit":"unknown"},"caveat":"No README available; claims rest on the note and metadata only.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"4ca5c85b4c49bcda","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"scutrobotlab-wheeled-legged-rl","kind":"project","category":"simulation-and-control","title":"wheeled-legged_RL","authors":[],"org":"scutrobotlab","year":null,"url":"https://github.com/scutrobotlab/wheeled-legged_RL","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Wheel-leg infantry RL training","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"engine":"Isaac Sim/Lab with RSL-RL; wheelbipe V14 model, origin not stated","real":"No; Sim2Real listed as a to-do"},"caveat":"Sim2Real deployment is still an unchecked roadmap item; tested on one RTX 5070 Ti.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"ea92719c904791c7","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"lk888l-wheeled-legged-robot-wl1","kind":"project","category":"robots","title":"wheeled-legged_Robot-WL1","authors":[],"org":"lk888l","year":null,"url":"https://github.com/lk888l/wheeled-legged_Robot-WL1","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"process_groups":["pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Low-cost wheel-legged robot WL1","assessment":{"built":"works","supply":"commodity","cost":"under100","make":"print+cut","docs":"full","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"servos for legs, small motors; cost not stated","ctrl":"Open firmware, LQR and leg kinematics sim","limit":"unknown"},"caveat":"Small STM32F411 and servo legs; no balance test data in the README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"7c162d64dfd1a54d","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"l-sy-wheeled-bipedal-lab","kind":"project","category":"simulation-and-control","title":"wheeled_bipedal_lab","authors":[],"org":"L-SY","year":null,"url":"https://github.com/L-SY/wheeled_bipedal_lab","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Isaac Lab training for wheeled bipedal robot","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"engine":"Isaac Lab template; no wheeled biped model described","real":"No"},"caveat":"README contradicts the note: it is a generic template with no wheeled-biped content.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"e1e4ec9d2a63c5e1","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"2757657887-wheelleg-rl-isaaclab","kind":"project","category":"simulation-and-control","title":"WheelLeg_RL_IsaacLab","authors":[],"org":"2757657887","year":null,"url":"https://github.com/2757657887/WheelLeg_RL_IsaacLab","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving","motion-and-dynamics"],"domains":["wheel"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Five-bar wheel-foot RL in Isaac Lab","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"engine":"Isaac Lab 4.5 Direct env, RSL-RL, USD robot model; origin of model not stated","real":"No; README shows no hardware"},"caveat":"Only a smoke test (1 env, 1 iteration) is reported; actuator warning shows 6 of 10 joints driven.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"f5714d1e4c4875d4","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving","motion-and-dynamics"],"source_file":"research/references/projects-wheel.yaml"},
    {"id":"rengar-yang-wheelleggedrobot","kind":"project","category":"robots","title":"WheelLeggedRobot","authors":[],"org":"Rengar-Yang","year":null,"url":"https://github.com/Rengar-Yang/WheelLeggedRobot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Servo wheel-leg robot","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"none","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README missing; evidence is only the one-line note.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"98bf92ac94ae8575","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"},
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    {"id":"elecfreaks-xgo-rider","kind":"project","category":"robots","title":"XGO-Rider","authors":[],"org":"elecfreaks","year":null,"url":"https://github.com/elecfreaks/XGO-Rider","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["wheels-and-driving"],"domains":["wheel"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Desktop dual-wheeled bipedal robot","assessment":{"built":"product","supply":"commodity","cost":"unknown","make":"buy-and-assemble","docs":"none","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is a code-extension page with no robot design information.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"f104884d608ac814","status":"catalogued","evidence_class":"snippet-only","placed":["wheels-and-driving"],"source_file":"research/references/projects-wheel.yaml"}
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