cad-agent.References · Wheels and driving in the catalogue · Markdown · JSON
References · Mechanical design
Wheels and driving
78 records: 0 read sources that cad-agent's rules and checks may cite, and 78 records catalogued from the Reference Map, not yet read. Wheels, hubs, tyres and the drivetrain that turns them.
Catalogued records are search snippets: their numbers are the authors' claims and their licences are as the map states them, unread. Cite one only after reading the source and promoting it (how).
Records
78 records
| Record | Kind | Evidence | Confidence | Licence | Process | Role |
|---|---|---|---|---|---|---|
| AI-Balance-botN-B-Studio FOC balance bot on ODrive-mini, STM32 Little performance data; the README mostly lists file functions. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Reference |
| Ascento: a two-wheeled jumping robotarxiv.org Four-link wheel-leg with parallel elastic jumping. | Paper or thesis | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| asRoBallet_mujocoasRoBallet Open-source ballbot RL library with MuJoCo Ballbot; real-hardware claim is in a linked paper, README gives no measurements. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printing | Lessons |
| autonomous-self-balancing-vehicleLuckyYoon Modular open-source self-balancing robotic platform README is an abstract and a paper link; build details sit in the PDF. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Context |
| b-robotJJulio Fully printed self-balancing robot (2014). 2014 design with old Arduino Leonardo and RN131 board; steppers limit dynamics. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | GPL-2.0not read | 3D printing | Reference |
| BABOTJohanLink Open-source ball-balancing robot you build and program README is a link page; licence is non-commercial; details sit off-site. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| balance-robot-mujoco-simlachlanhurst Minimal MuJoCo LQR balancer. Two-wheel only, no legs; no hardware validation stated. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Lessons |
| Balance_Bot_DengFOCToanTech SimpleFOC-based balance bot, low-cost, customised Kit is sold on Taobao; no balancing performance numbers; gimbal motors are weak. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | AGPL-3.0not read | none stated | Lessons |
| Ball-Balancerjennagorton Code and STL files for ball balancing robot A servo ball balancer; no numbers or test method in the README. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Lessons |
| Ball-Balancing-RobotI-M-Robotics-Lab Educational ball-balancing robot Video link only; no tracking accuracy or latency numbers; GPL. | Open project | snippet only | low 0.4 | GPL-3.0not read | 3D printing | Lessons |
| Ball-Balancing-RobotKoshiroRobot Ball balance robot parts files and program No README, so only the one-line note supports any claim. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| Ball-Balancing-Robotremrc Ball balancing robot Terse README; proof of function relies on a linked video. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| ballbotbrianc118 Firmware for self balancing ballbot Firmware repo with a parts list only; no results shown. | Open project | snippet only | low 0.4 | openMITnot read | 3D printingSheet metal and laser | Lessons |
| Bipedal-Robot-Balancing (PAW)Sndcooper Low-cost wheel-legged robot with a cascaded balance loop. Hobby-grade AX-12 servos and L298N; README paths point to author's local drive. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printing | Reference |
| Bipedal_Worklouislelay Designed and built 3D-printed wheeled biped Hobby servos and L298N drivers; no balance results or numbers given. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Lessons |
| circleg-robot-open2757657887 MuJoCo wheel-ring-leg balancing robot sim and control Non-commercial PolyForm licence; no real robot, and the ring-leg differs from five-bar. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Reference |
| CTU thesis: two-legged wheeled robotdspace.cvut.cz LQR plus PD in Gazebo and on hardware. | Paper or thesis | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| CyberCrawlerMPYTeraen DIY 3D-printed wheeled quadruped, 2 DoF README is a title and two model links only. | Open project | snippet only | low 0.4 | AGPL-3.0not read | 3D printing | Context |
| ddtrobot_labcmjang Direct Drive Technology Robotics RL project Commercial robot only; README has no results, model details or numbers. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Lessons |
| dynbalabotVitRuzicka Hobby Ascento-style two-legged balancer. Author calls it a proof of concept; no balance results or CAD. | Open project | snippet only | low 0.4 | licence unclearnot read | PCB and electronics | Context |
| esp32-self_balancing_robottrandi Printed balancer; IMU placement notes. README is one line; no results, files or build notes beyond the title. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Lessons |
| foc-wheel-legged-robotSkythinker616 Most-starred full stack: SolidWorks folder, FOC boards, STM32 and ESP32 code, Simscape model. No measured results in the README. Custom STM32/ESP32 boards and SolidWorks files; no measured results in README. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | GPL-3.0not read | none stated | Leader |
| FOSDEM: lessons from Upkie wheeled bipedsfosdem.org Lessons from running an open robot project. | Video or talk | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| Graduate_ProjectLiuDingchuan Webots wheeled bipedal robot, model-based LQR Simulation only, Webots 2020a required, no licence and no real-robot test. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Reference |
| HoverBotLuSeKa Self-balancing robot using hoverboard hub motors Deprecated repo; wiring called highly experimental; RC-driven, no velocity feedback so it falls if too fast. | Open project | snippet only | low 0.4 | openMITnot read | CNC machining | Lessons |
| HyunHuGuoXuang Wheel-leg robot: ESP32, MPU6050, BLDC, SimpleFOC driver README is Chinese with video links and PCB pictures only; no numbers or BOM in text. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| Isaac-RL-Two-wheel-Legged-Botjaykorea Popular Isaac Lab recipe. Sim-to-real shown only as media; no quantitative results in README. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | none stated | Reference |
| Kugle-MATLABmindThomas Kugle ballbot project main repository Ballbot with omniwheels; MATLAB code is the main content and the hardware is heavy. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Leader |
| LeTianwyxh2004 Replica of self-balancing wheeled robot Little proof it balances; no photos of the built robot or tests in the README. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| LimX TRON2 descriptionlimxdynamics Commercial wheel-legged biped: URDF, MuJoCo XML, USD and meshes per its description. Commercial robot, mass 35 kg; models are not buildable hardware designs. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Reference |
| LocoWheeledLeggedzhaozijie2022 RL wheeled-legged locomotion sim-to-real in Isaac Unitree Go2W quadruped, not balancing wheel-leg; no licence; demos only, no numbers. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | 3D printing | Reference |
| LQR_phcHawking-z LQR balance car with self-drawn board and mechanics Basic STM32F103 LQR car with brushed motors; no numbers. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| Micro-Wheeled_leg-RobotMuShibo Desktop-scale two-wheel-leg robot README gives no balance performance numbers or BOM costs; no licence declared; parts mix is Chinese-market sourcing. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printingCNC machiningPCB and electronics | Leader |
| Mini-Wheelbotwheelbot Balancing reaction wheel unicycle robot Custom PCBs and motor controllers; README gives no BOM or numbers. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | PCB and electronics | Reference |
| mirrorballbotAndreaFavero71 Ball balancing robot that sees through a mirror A ball balancer on a platform, not a wheeled or legged robot. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printingSheet metal and laserCNC machiningPCB and electronics | Reference |
| mpc_balancerstephane-caron MPC to balance Upkie wheeled bipeds Pinned to Upkie 8.0.0 software; README shows no results or numbers. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Lessons |
| ONE-Robotpeng-zhihui Unicycle self-balancing robot with IMU and STM32 Circuit is lost; the README says the control board design is gone. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| Open-RLBWSteven0928 Wheeled biped with deep-RL control. README is a title and video link; no details on hardware or training. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| Open-wheel-legged-balance-botN-B-Studio Fully printed 8-DOF wheel-legged bot. Third-party actuators and DOF details unclear; README mostly project layout, no metrics. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Reference |
| OpenBallBot-RLsalehiac MuJoCo ballbot simulator and RL Ballbot, not wheel-leg; requires building patched MuJoCo from source; RL demos are simulation only. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openApache-2.0not read | none stated | Lessons |
| Pow_WBR_ProjectSeungbinOh C++ code for university capstone wheeled bipedal robot README is mostly AliExpress links; no performance data or photos in the README text. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| RC_WheelLegzeitvex Robocon wheeled quadruped, RL, MuJoCo, sim2real README is Chinese and reported 7th at Robocon national, not an independent test; no cost. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | CNC machiningPCB and electronics | Leader |
| rhea_descriptionG-Levine URDF model for the Rhea wheeled biped README is three lines: no masses, inertias or joint limits stated, and no validation. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| Rider-Pi-RobotYahboomTechnology Two wheel-legged robot, Raspberry Pi CM4 Sales README with no design files, numbers or limits. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| RMInfantry_wheelLegged_wschen-jiangnan ROS2 wheel-legged control and simulation, two platforms No performance numbers or photos in the README; licence missing; Chinese text; RoboMaster-class robots. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Reference |
| RP_BalanceWilliamGwok Five-bar wheel-legged RoboMaster base. MATLAB modelling and a Webots sim; no CAD seen. Chinese README. Modelling code only; no CAD or BOM, and test videos are linked, not described. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| scratchlukearend Open-source self-balancing robot built from scratch Older Arduino-class design; very long README with few measured numbers. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printingCNC machining | Reference |
| self-balancing-robotpbhutia111 Two-wheeled PID balancing robot: code, CAD files, wiring Author states the code is not written yet; no evidence it balances. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Context |
| serial-wheel-legcyiyang Damiao open-source wheel-leg robot, vision, MATLAB and Webots sim Fork note only; real hardware and results are not shown in the README. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| Small-wheeled-robotMultivac11 Small wheel-foot robot README is near-empty (26 bytes); only the note describes it. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| Stackforce_Mini_Wheeled_Legged_RobotSeeed-Projects Mini wheeled-legged robot README is brief; evidence is a linked video course, not shown in the file. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Lessons |
| tron1-mujoco-simlimxdynamics MuJoCo sim for TRON1 point-foot, sole-foot, wheel-foot Needs Python 3.8 limxsdk wheels; wheel-foot sim needs a real-time machine; bipedal, not five-bar. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Reference |
| Upkieupkie Best documented open wheeled biped: build wiki, Python/C++ stack, Hackaday log and a FOSDEM talk. Parts live in upkie_parts. Needs mjbots actuators; README gives no measured balance numbers. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openApache-2.0not read | none stated | Leader |
| Upkie Hackaday loghackaday.io Build log with cost estimate. Not opened. | Article or blog post | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| upkie_descriptionupkie URDF and Xacro descriptions for Upkie wheeled bipeds Model is a wheeled biped with mjbots actuators, not five-bar legs; README states no numbers. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Reference |
| upkie_partsupkie 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. Hex wheel hub variant is easier to adapt but more brittle; Git LFS needed. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Reference |
| Venus-1 four-link wheel-leggedtrack-tech Four-link leg, not five-bar. Large mechanical release. Author warns of design defects and advises caution before replicating. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | GPL-3.0not read | none stated | Reference |
| wbr_controlHNUST-Dust Serial wheel-leg robot control: LQR/VMC, Zephyr, HPM6750 Numbers are stated without test method; axis mapping is not confirmed on the real robot. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openApache-2.0not read | none stated | Reference |
| Wheel-Leg-RobotJinHeMu Wheel-leg robot design README is a short intro; no photos, results or CAD description, despite the design-focused note. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| Wheel-legged MATLAB collectionziyuliu66 Five-, two- and four-link models side by side. Author says two of the three projects contain clutter and are unmaintained. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| Wheel-legged robot with LQR and ADRCncbi.nlm.nih.gov Cites the five-bar decoupling. | Paper or thesis | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| wheel-legged-biped-robotVesto-Design Wheel-legged biped robot Simulation model only; custom licence limits reuse and no hardware is built. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Context |
| WHEEL-LEGGED-BOTDoonns Described as five-bar wheel-legged, but the repo holds ROS software and a URDF folder only. No CAD seen. README is software modules only; no hardware, CAD or balance evidence despite note. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| wheel-legged-controljacklindun ROS and MuJoCo wheel-legged simulation MuJoCo paths are hard-coded; several launch nodes are not built; no results. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Lessons |
| Wheel-Legged-Labzyicome Isaac Lab wheel-legged environment. Author states no real-robot deployment or sim-to-real validation yet. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Reference |
| Wheel-legged-robot--Main_CodeMultivac11 Solo mechanical, hardware, control wheel-foot robot project Unitree A1 and DJI 3508 actuators with serial or CAN links. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | none stated | Leader |
| wheel_leggedJianBoLiao Webots wheel-foot simulation Ignores constraints (no OSQP), Webots only, and the README is a MPC tutorial. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| wheel_legged_genesisAlbusgive Wheel-legged RL in Genesis. No real-robot validation stated; Genesis install needs main branch. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| Wheeled bipedal robot, LQR and PDncbi.nlm.nih.gov Hybrid LQR-PD with height control. | Paper or thesis | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| wheeled-bipedal-jumpingsilvery107 Height control and torque planning for wheeled-bipedal jumping Old (2021) Webots model, simulation video only; AGPL licence. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | AGPL-3.0not read | none stated | Lessons |
| wheeled-leg-robotfernandomierhicks Two-wheeled legged balancer with MuJoCo sim, firmware and LQR. Very recent. No README available; claims rest on the note and metadata only. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| wheeled-legged_RLscutrobotlab Wheel-leg infantry RL training Sim2Real deployment is still an unchecked roadmap item; tested on one RTX 5070 Ti. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| wheeled-legged_Robot-WL1lk888l Low-cost wheel-legged robot WL1 Small STM32F411 and servo legs; no balance test data in the README. | Open project | snippet only | low 0.4 | openMITnot read | PCB and electronics | Reference |
| wheeled_bipedal_labL-SY Isaac Lab training for wheeled bipedal robot README contradicts the note: it is a generic template with no wheeled-biped content. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| WheelLeg_RL_IsaacLab2757657887 Five-bar wheel-foot RL in Isaac Lab Only a smoke test (1 env, 1 iteration) is reported; actuator warning shows 6 of 10 joints driven. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Reference |
| WheelLeggedRobotRengar-Yang Servo wheel-leg robot README missing; evidence is only the one-line note. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| WheelLeggedRobotSimulationRengar-Yang Simulation model files. Author calls structure rough and code may have problems; no hardware. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| XGO-Riderelecfreaks Desktop dual-wheeled bipedal robot README is a code-extension page with no robot design information. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
Role is the survey's judgement of a record within its class (leader, reference, lessons, context): not a quality grade. A single source, a search snippet, or untested judgement is what “low” means.