Model 2026-09-27
6" × 1.25" wheel
7.5" + 7.5" tubes
24" tall · 14" wide
Command
Pilot stickCrossfire radio. Not a Hux board.
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TBS Nano RXOn hand. Binds into the flight controller.
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F765-Wing + IMUBench board. Two gyros on the board, MPU6000 and ICM20602. New firmware, not ArduPilot. Attitude, wheel torque, and the four modes. Software.
Power
8S 3300 mAh LiPoOne pack, XT90, XT90-S anti-spark on the harness. Decided 2026-09-26: 33.6 V full, 29.6 nominal, 26.4 V cutoff — above the RobStride 24 V floor through the whole discharge.
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Power split + torque cutActuator current stays on the pack, behind a hardware kill. Do not route motor current through the MCU.
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Step-down rail5 / 6 / 7.4 V for the controller, the receiver, and the pose joints.
Motion
Three branches leave the flight controller in parallel. Wheel current stays on the pack.
Wheel FOC ×2Torque mode. About 3 N·m peak at the 6 inch wheel, roughly 60–380 rpm. Drivers not chosen.
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In-wheel motors ×2Brushless, encoder on each, motor at the hub. The hub is turned on the lathe. Not ordered.
Hip roll ×2In V1. Dynamic class, not a stepper. With the locked set's masses the planted hip holds about 10.7 N·m at the drawn 5.4" hips and 6 N·m at 3" when the other wheel lifts — the axes must come in. Driver path is PWM, CAN, or its own FOC.
Knee and hip swing ×4Servo, or stepper plus a belt. Still open. A spring holds about 2.2 N·m of the two-leg crouch so the motor is free to move. If they are steppers, the flight controller does not drive the coils.
Modes
PARKED
TWO_WHEEL
LEFT_ONLY
RIGHT_ONLY
The pilot selects these on the stick. One-leg modes do not themselves lift a foot.
Later
Not required to balance. The Pi listens. Pathfinding comes after the four modes. Software on each chip.
Pi 5On hand. Raspberry Pi OS Lite. One Python process reads the Wing's text stream. Owns the cameras, the face display, and the eye lights later.
ESP32On hand. Unused. The Pi already has Wi-Fi.
Cameras ×7Two on the front for stereo. One each on the back, left, right, top, and bottom. Small modules. Not bought.
Face displaySmall screen on the front for a few preset faces. Roughly 2.2 by 1.0 inches.
Eye lights ×2The eyes are sockets. An RGB shines into each orbital cavity for expression. The light is the eye, not a separate lamp.