Open Source RoboticsRobots, software & learning

Navbot-ES02

Robot / hardware build

An ESP32-S3 wheel-leg design with four leg servos, STL parts and SBUS/touch feedback code; documentation and reuse rights need reconciliation. [1] [2] [4] [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-ES02 is an ESP32-S3 wheel-leg design with two brushless wheel motors and four PWM-controlled leg servos. Its controller source includes SBUS remote input, inertial balance control and serial touch-position feedback for ball-position experiments. It qualifies as a source-available design reference, with useful mechanism and control files; conflicting component descriptions and unverified electronics exports prevent a complete-build claim. [1] [2] [3] [4] [5]

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; public access does not establish CAD, electronics, custom firmware or media reuse permission.
  • README feature list, hardware table, BOM and blog disagree on IMU, servos, touch surface and motor configuration.
  • README directory sketch does not match the source tree; dependency installation has not been reproduced.
  • Only individual STL mechanical files were found in the pinned tree, not an editable complete assembly; total cost and physical operation remain unverified.
  • Electronics archive contents inspected; import, design-rule checks and fabrication readiness were not validated.

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 2.x
  • ESP32 board package 3.0.7
  • SimpleFOC and SimpleFOC drivers
  • Additional includes such as ArduinoJson require dependency reconciliation

[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 brushless driven wheels and four PWM leg servos; an optional top touch surface supports ball-position experiments.

Editorial assessment from inspected sources.

[1] [4] [5] · Editorial assessment

Actuators
  • Two 2208 90KV brushless motors
  • Four leg servos; BOM lists GX-S7445, README lists Pro-Tronik PTK 7452

[1] [4] [5]

Controller

ESP32-S3; README recommends board package 3.0.7.

[1] [5]

Sensors
  • ICM42688-family IMU in controller source; README feature list also says MPU6050
  • Two AS5600 encoders in BOM and source
  • Serial touch-position feedback

[1] [4] [5]

Assembly & first use

Open the upstream getting-started guide [1]

  • Start with docs/BOM.xlsx and hardware/3d print; reconcile servo and touch-panel selections with the README.
  • Inspect hardware/pcb/ProPrj_NavBot-ES02.epro in EasyEDA before manufacturing.
  • Open src/ES-02/OllieFOCdrive/OllieFOCdrive.ino, rather than the README example top-level directory.
  • Resolve library includes and verify motor, servo and SBUS channel configuration before attempting operation.

Editorial assessment from inspected sources.

[1] [2] [3] [4] [5] · 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

Inspect motor/encoder initialization, servo directions and mode-specific PID gains in the source; a reproduced commissioning procedure is not established.

Editorial assessment from inspected sources.

[5] · Editorial assessment

Cost

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

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

Use the actual tree as your starting point

This review pins commit 5ab88a6548575c7fd71a649837f60a0c1fd4dd95. Mechanical files are under hardware/3d print, the electronics archive is hardware/pcb/ProPrj_NavBot-ES02.epro, and purchased parts are listed in docs/BOM.xlsx. The mechanical release contains individual STL meshes; an editable complete assembly was not found in the tracked tree. Meshes support inspection and print preparation, but fit, material selection and complete part coverage remain unverified. [2] [3] [4] [6]

The main sketch is src/ES-02/OllieFOCdrive/OllieFOCdrive.ino, rather than the top-level location suggested by the README's directory sketch. Upstream recommends Arduino IDE 2.x and ESP32 board package 3.0.7. Inspect all includes before assembling an environment: the source uses ArduinoJson as well as the motor-control libraries named in the README, and we have not reproduced a complete dependency installation or compilation. [1] [5]

Resolve the component conflicts before fabrication

The README's feature list says MPU6050, but its hardware table and controller implementation identify the ICM42688 family. The BOM lists four GX-S7445 servos where the README names Pro-Tronik PTK 7452. Touch hardware also differs: the README describes a 2.8-inch resistive/capacitive interface, while the BOM lists a 181 × 139 mm resistive surface and a serial driver. These are configuration questions to resolve against the actual parts and firmware. [1] [4] [5]

The linked blog adds a further mismatch: its BOM names SG90 servos, TT DC motors and an L298N driver, whereas the repository describes brushless motors and encoder-based control. Use its assembly images as context, without treating that generic checklist as an equivalent electrical design. [7]

The EasyEDA archive contains real schematic and board records, including encoder-board data. The MAIN record includes both footprint and PCB sections. We did not import it or run design-rule checks, so we have not established that the export can directly produce a working mainboard. [3]

What the control workflow establishes

The README maps receiver channels 5–10 to start/mode selection and ball targets; the implementation reads SBUS channels and includes separate PID gains for operation with and without touch feedback. These are concrete control paths to study, not measured balancing performance. The four-servo mechanism, ESP32-S3 configuration and touch/SBUS implementation distinguish ES02 from EN01's two-bus-servo, browser-control configuration. Files and settings should be matched within the chosen design rather than mixed across them. [1] [4] [5] [8]

A complete delivered cost is unknown: no matched quote covers printed parts, fabricated electronics, servos, batteries and charger, remote/receiver, touch hardware, tools, shipping and tax. No project-wide license was identified for the custom files; the README's open-source wording and invitation to fork do not establish a comprehensive reuse grant. This profile links to the source without redistributing its CAD or media. No firmware runtime, electronics fabrication, mechanical fit or physical operation was tested. [4] [6]

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
5ab88a6

Source files and licenses

Include narrowly as a wheel-leg hardware and embedded-control design reference: actual STL mechanism parts and controller implementation support inspection and adaptation research. Distinct four-PWM-servo ESP32-S3 design with SBUS and touch-position control, materially different from EN01. 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