wheel-legged-robot

URDF/Xacro robot models for TRON1 — ROS 1/2, MuJoCo & simulation ready

URDF/xacro, MuJoCo XML, mesh & USD models for LimX TRON2A & TRON2B — 16 variants (dual-arm, bipedal, wheeled-leg), ROS 1/2 & simulation ready.

PAW: open-source, low-cost wheel-legged self-balancing robot. STM32 100 Hz cascaded balance control, 5-bar legs on Dynamixel AX-12, FlySky RC, wireless tuning GUI. A cheap testbed for control and sim-to-real RL research.

基于 Zephyr RTOS 与 HPM6750 的串联型轮腿机器人控制系统，涵盖状态估计、LQR/VMC 底盘控制、实时控制系统的多线程通讯与自动化固件发布。

Gazebo Classic 11 simulation workspace for TRON2 robots (ROS Noetic) — provides physics simulation with Tron2HWSim plugin bridging to LimX SDK. Supports SF (biped) and WF (wheel-foot) variants.

GPL-2.0-or-later complete corresponding source for the PCT global planner used by LimX TRON2 ROS 2 navigation (tron2-navigation-ros2) — ROS 2 Humble/aarch64, Python wrapper, pybind11 extensions, retained GTSAM/OSQP sources.

Autonomous navigation for the LimX TRON2 wheeled-legged robot on ROS 2 Humble — RoboSense LiDAR, FAST-LIO localization, PCT stair-aware planning, SCAN local planning, fail-closed chassis gateway.

RhinoPi X1: a five-bar wheel-legged robot with MuJoCo modeling, LQR + VMC control simulation, and CAN motor/IMU integration.

Open-source wheel-legged robot with a compact linkage mechanism, STM32 PID control, CAD models and build guides. 开源轮腿机器人。

基于 PinyCore 的 RoboMaster 2026 第一台轮腿步兵机器人嵌入式固件，采用 STM32 + FreeRTOS，涵盖轮腿底盘平衡与运动控制、双轴云台、发射机构及裁判系统通信。

FLORES轮足机器人：上游Fork、完整中文论文翻译、工程分析与复现指南

ROS 2 Foxy driver, URDF (xacro) and bringup for the Deep Robotics M20 wheel-legged quadruped

基于 PinyCore 的 RoboMaster 2026 第二台轮腿步兵机器人嵌入式固件，采用 STM32 + FreeRTOS，涵盖轮腿底盘平衡与运动控制、双轴云台、发射机构及裁判系统通信。

GPL-2.0-only complete corresponding source for the FAST-LIO mapping and localization units used by LimX TRON2 ROS 2 navigation (tron2-navigation-ros2) — ROS 2 Humble/aarch64 derivatives, embedded ikd-Tree.

ROS 2 Humble driver, URDF and bringup for the ZSBot Genisom L1W wheel-legged quadruped: zsibot SDK, Livox MID-360, RealSense D435i.

STM32H753 기반 휠-레그 로봇 WoKi 펌웨어 | Jetson 통신, DYNAMIXEL 모터 제어, DMA 기반 IMU 수신

Hierarchical control for a 16-DoF wheel-legged robot: VMC base + LQR / constrained MPC / bounded residual PPO at 100 Hz decision and 500 Hz physics. 20 paired seeds; under model mismatch and delay, classical loops reach 125 mm height RMSE while the residual holds 33.8 mm. Simulation only.