Impulse - Open-Source Two-Wheeled Bipedal RobotDeveloped from the scratch, this project explores a compact robotic platform that combines two-legged articulation with wheeled locomotion. The design prioritizes stability, responsive movement, adjustable height, and portability.
Features of the project:
Self-balancing PID controlAutomatic deployment and landingVariable-height legsFully 3D-printed constructionThe project combines mechanical design with a compact electronics and control system built around a Teensy 4.1, ODrive motor controllers, magnetic encoders, an IMU, and CAN bus communication. Its 6-DOF structure and multiple PID controllers enable stable balancing, velocity control, and dynamic leg adjustment.
Impulse is particularly interesting for robotics enthusiasts and makers exploring balancing robots, actuator control, and practical control theory. Its detailed hardware and control approach also make it a useful reference for people building their own wheeled robots.
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