Collinear Mecanum-Drive Balancing Robot

A four-wheeled balancing robot on collinear mecanum wheels, built in 2023. Balance, forward driving, and lateral driving are handled by PID control on the onboard STM32 microcontroller.

Isometric view of the robot
Isometric view.
Front view showing the four collinear mecanum wheels
Four mecanum wheels on one axis.
Top view of the robot with its electronics
Top view.

Driving and Push Recovery

Driving and push recovery. Driving on the mecanum wheels and staying balanced after kicks.

References and Acknowledgements

Thanks to the teams who open-sourced their work:

Thanks also to the members of RoboGrinder at Virginia Tech for their work on this robot.