Open Source RoboticsRobots, software & learning

Navbot-EN01

Robot / hardware build

An ESP32 wheel-leg robot with STEP, fabrication files and browser control; a source-available design reference with unresolved reuse rights. [1] [2] [5] [6]

Build & first use →Official websiteUpstream build guideBill of materials

For
Makers and educators comfortable reconciling mechanical, electronics and embedded-firmware documentation [1] [3] [4]
Cost
No current cost yet. Upstream bill of materials [4]
Source rights
Some licenses are unresolved. Review licenses
Unknowns
operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
not fully assessed for mechanical design, electronics, firmware, software, documentation · Details by part

Requirements · Research details and dates

On this page

Overview

Navbot-EN01 is a tabletop wheel-leg robot for studying balance control on an ESP32. It combines two brushless wheel motors, two bus-controlled leg servos, magnetic encoders and an MPU6050 IMU, with browser control over Wi-Fi. The repository provides mechanical payloads and controller source worth inspecting, but this entry covers a source-available design reference: a complete, matched build and its reuse permissions are not established. [1] [2] [5] [6]

Is this for you?

Use cases
  • Balance-control education
  • Wheel-leg mechanism inspection
  • Remote-control experiments

Editorial assessment from inspected sources.

[1] [5] · Editorial assessment

Known limitations
  • No project-wide license identified; custom CAD, electronics, firmware and media reuse rights remain unresolved.
  • BOM, README and linked guide have motor/servo naming differences; electrical compatibility is not established by the shopping links.
  • No complete delivered build budget, compilation, calibration or hardware performance test by Open Source Robotics.
  • Electronics archive contents inspected; import, design-rule checks and fabrication readiness were not validated.
  • BOM 3.7 V battery conflicts with 8 V driver supply and above-7.2 V battery thresholds in firmware; compatible power configuration is unresolved.

Editorial assessment from inspected sources.

[1] [2] [3] [4] [5] [6] [7] · Editorial assessment

What you need

Host computer

A computer for Arduino development and firmware upload; balance control runs on the ESP32 microcontroller.

Editorial assessment from inspected sources.

[1] [5] · Editorial assessment

Dependencies
  • Arduino IDE
  • ESP32 board package 2.0.3
  • Bundled SimpleFOC, WebSockets, ArduinoJson and servo/IMU libraries
  • Queue library named in README

[1] [5]

Tools
  • 3D printer or printing service
  • Electronics fabrication and assembly tools
  • USB-connected development computer

Editorial assessment from inspected sources.

[1] [2] [3] · Editorial assessment

Skills
  • 3D-print preparation and mechanical assembly
  • Electronics fabrication and wiring
  • Arduino C++ and controller calibration

Editorial assessment from inspected sources.

[1] [2] [3] · Editorial assessment

Hardware & parts

Upstream bill of materials [4]

Hardware configuration

Two driven wheels and servo-actuated legs, with an ESP32 controller.

[1] [5]

Actuators
  • Two brushless wheel motors; BOM specifies 2208 90KV
  • Two bus servos; BOM says ST3032 while controller and linked assembly guide use STS3032 naming

[1] [4] [5] [7]

Controller

ESP32; README recommends ESP32 board package 2.0.3.

[1] [5]

Sensors
  • MPU6050 IMU
  • Two AS5600 magnetic wheel encoders

[1] [5]

Assembly & first use

Open the upstream getting-started guide [1]

  • Inspect the pinned STEP, print/cut/CNC files and BOM; reconcile motor and servo designations with the guide.
  • Import the electronics archive into EasyEDA Pro and validate complete board contents before ordering.
  • Open Src/wl_pro_robot/wl_pro_robot.ino; follow the README board-package and library setup.
  • Set servo IDs and alignment; follow documented initialization before browser control.

Editorial assessment from inspected sources.

[1] [2] [3] [4] [5] [7] · Editorial assessment

Assembly

Use the mechanical files, BOM and linked assembly illustrations as a design reference; resolve component and electronics-export discrepancies before fabrication.

Editorial assessment from inspected sources.

[2] [3] [4] [7] · Editorial assessment

Calibration

README specifies left/right servo IDs 1/2 and fully squatted limit value 2048; verify physical alignment and FOC initialization against the actual build.

[1] [5]

Cost

No current, complete configuration-specific build cost has been established for this profile.

Budget and reuse limits

A complete delivered budget is unknown. The BOM's prices and retail pack links do not reconcile PCB fabrication, printed parts, cut carbon fiber, CNC work, tools, shipping or tax. The BOM lists a 3.7 V battery, while the firmware sets an 8 V motor-driver supply and uses battery-indicator thresholds above 7.2 V. These values need reconciliation; they do not establish a compatible battery or wiring arrangement. We have not checked supplier availability. [2] [4] [5]

The README credits MuShibo's Micro-Wheeled_leg-Robot as an ancestor. EN01 is described here for its documented fabrication and browser-control configuration, without claiming an independent invention. No project-wide license was identified in the pinned tree; bundled library licenses do not grant reuse rights to the custom CAD, electronics, firmware or photographs. We publish a researched description and source links, without redistributing those assets. No physical build, calibration or performance test was performed. [1] [6]

3D preview

Preview not available yet. Upstream mechanical files are available, but a project-wide reuse license was not identified. No model or photograph is hosted; mechanical fit and assembly completeness have not been validated.

Model sources

Upstream mechanical files are available, but a project-wide reuse license was not identified. No model or photograph is hosted; mechanical fit and assembly completeness have not been validated.

Project notes

Start with the fabrication files

The reviewed snapshot is 3139f2fb32b38d10611feb905e16f8aa012f2f2e. Its Hardware/RebotModel directory contains a STEP robot model, printable STL parts, carbon-fiber panel drawings and CNC files for aluminum components. BOM.xlsx supplies purchased-part quantities and shopping references. This gives a reader a mechanical starting point beyond a photograph or a simulation model; it does not establish assembly fit or a complete manufacturing package. [2] [4]

Reconcile the configuration before buying parts. The BOM lists 2208 90KV wheel motors, while the linked assembly guide names TMCM-6210; the BOM also uses ST3032 where the controller and linked assembly guide use STS3032 naming. Treat those as unresolved differences, not interchangeable parts. The guide's assembly illustrations may help orient the mechanism, but its component checklist should not silently replace the pinned BOM. [1] [4] [5] [7]

Electronics are supplied as an EasyEDA Pro .epro archive with schematic sheets and board records. Internal inspection found schematic sheets and PCB content, including embedded footprint sections. We did not import the project, run design-rule checks or generate manufacturing files, so fabrication readiness remains unverified. [3]

Keep the firmware and calibration together

The documented firmware starts at Src/wl_pro_robot/wl_pro_robot.ino. Upstream recommends ESP32 board package 2.0.3, bundled libraries and a separately installed Queue library. The code contains two SimpleFOC motor controllers, AS5600 encoder interfaces and MPU6050 feedback. The README specifies left/right servo IDs 1 and 2 and a fully squatted calibration value of 2048. Those settings belong to the actual mechanical configuration and require checking before actuation. [1] [5]

Browser operation uses 2.4 GHz Wi-Fi and WebSocket commands. Expression assets use SPIFFS, and the README describes a separate upload route using Arduino IDE 1 because its chosen filesystem plugin does not support IDE 2. Installing the main sketch and uploading expression assets are therefore separate documented steps. Neither route was compiled or reproduced in this review. [1] [5]

What we checked

Source research only. No firmware compilation, CAD fit validation, EDA import, physical assembly, calibration or performance testing. No affiliate links; upstream media and CAD are not redistributed.

Not yet established

  • Requirements: operating system

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Oct 25, 2026
Sources last checked
Oct 25, 2026
Next review
Nov 25, 2026
Reviewed revision
3139f2f

Source files and licenses

Include narrowly as a wheel-leg hardware and embedded-control design reference: actual STEP, fabrication drawings, STL parts and controller implementation support inspection and adaptation research. Distinct two-bus-servo browser-control design; README credits MuShibo/Micro-Wheeled_leg-Robot ancestry. Incomplete configuration reconciliation and unverified electronics fabrication prevent a complete-build claim. Missing project-wide licensing remains explicit; no upstream media or design payload is republished.

LayerAvailability / license
mechanical designavailable · License not fully assessed
Source artifacts available; no project-wide reuse license identified. Dependency notices retain their own scope. [2] [6]
electronicsavailable · License not fully assessed
Source artifacts available; no project-wide reuse license identified. Dependency notices retain their own scope. Schematics and PCB archive inspected as text; complete board import/fabrication readiness unverified. [3] [6]
firmwareavailable · License not fully assessed
Source artifacts available; no project-wide reuse license identified. Dependency notices retain their own scope. [5] [6]
softwareavailable · License not fully assessed
Source artifacts available; no project-wide reuse license identified. Dependency notices retain their own scope. Host-side tooling and embedded control are not independently runtime-tested. [5] [6]
documentationavailable · License not fully assessed
Source artifacts available; no project-wide reuse license identified. Dependency notices retain their own scope. [1] [6]

Not required for the wheel-leg design and embedded-control scope.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history