{"id":21043,"date":"2026-09-30T08:09:49","date_gmt":"2026-09-30T00:09:49","guid":{"rendered":"https:\/\/cde.nus.edu.sg\/edic\/?page_id=21043"},"modified":"2026-09-30T08:09:49","modified_gmt":"2026-09-30T00:09:49","slug":"rm-bipedal-robot","status":"publish","type":"page","link":"https:\/\/cde.nus.edu.sg\/edic\/projects\/innovations-in-intelligent-systems\/rm-bipedal-robot\/","title":{"rendered":"RoboMaster bipedal wheel-legged robot"},"content":{"rendered":"\n<h2>\n\t\t\tRoboMaster bipedal wheel-legged robot\t<\/h2>\n<figure>\n\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/cde.nus.edu.sg\/edic\/wp-content\/uploads\/sites\/37\/2026\/09\/DSC00911-resized.png\" alt=\"DSC00911-resized\" height=\"1336\" width=\"2000\" title=\"DSC00911-resized\" loading=\"lazy\" \/>\n\t<\/figure>\n\t<p>The RoboMaster Bipedal Wheel-Legged Robot is designed to tackle the demanding mobility challenges of the RoboMaster competition, where robots must move rapidly around an arena while completing objectives such as capturing resources, engaging opposing robots and attacking strategic targets. The project explores a wheel-legged architecture that combines the efficiency of wheeled locomotion with the adaptability and dynamic control of articulated legs.<\/p>\n<p>The robot was developed through multiple design iterations, progressing from initial CAD concepts and prototypes to an integrated final platform. Key mechanical innovations include a hubless large wheel, a V-groove bearing wheel for constrained and stable motion, a customised bicycle rim for lightweight and economical construction, and a compact leg-wheel integration structure designed to support both control and maintenance.<\/p>\n<p>Supporting the mechanical design is a sophisticated wheel-leg control architecture that integrates state estimation, reference generation and multiple feedback-control loops. Together, these systems enable coordinated control of the robot&#8217;s wheels and articulated legs for dynamic movement. By combining <strong>mechanical innovation, iterative prototyping and advanced controls<\/strong>, the project demonstrates a compact and agile robotic platform developed for the challenging environment of the RoboMaster competition.<\/p>\n<p>This project is part of <strong>NUS Calibur Robotics<\/strong>: <a href=\"https:\/\/nuscalibur.com\/\">https:\/\/nuscalibur.com\/<\/a><\/p>\n<a href=\"https:\/\/eurekawn.github.io\/ASI-405\/Second_Half\/\" target=\"_self\">Find out more about this project!<\/a>\n\t<h3>Project Team<\/h3>\n<h4>Student:<\/h4>\n<ul>\n<li>Liu Weining (Mechanical Engineering, Class of 2026)<\/li>\n<\/ul>\n<h4>Supervisors:<\/h4>\n<ul>\n<li>Mr Nicholas Chew (<a href=\"mailto:nickchew@nus.edu.sg\">nickchew@nus.edu.sg<\/a>)<\/li>\n<li>Mr Royston Shieh (<a href=\"mailto:shiehtw@nus.edu.sg\">shiehtw@nus.edu.sg<\/a>)<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/cde.nus.edu.sg\/edic\/wp-content\/uploads\/sites\/37\/2026\/09\/DSC01006-resized-1024x684.png\" alt=\"\" width=\"1024\" height=\"684\" \/><\/p>\n<figure>\n\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/cde.nus.edu.sg\/edic\/wp-content\/plugins\/bb-plugin\/img\/pixel.png\" alt=\"\" loading=\"lazy\" \/>\n\t<\/figure>\n\n","protected":false},"excerpt":{"rendered":"<p>RoboMaster bipedal wheel-legged robot The RoboMaster Bipedal Wheel-Legged Robot is designed to tackle the demanding mobility challenges of the RoboMaster competition, where robots must move rapidly around an arena while completing objectives such as capturing resources, engaging opposing robots and attacking strategic targets. The project explores a wheel-legged architecture that combines the efficiency of wheeled [&hellip;]<\/p>\n","protected":false},"author":171,"featured_media":0,"parent":20,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"rs_blank_template":"","rs_page_bg_color":"","slide_template_v7":"","site-sidebar-layout":"default","site-content-layout":"default","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"disabled","ast-breadcrumbs-content":"","ast-featured-img":"disabled","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"default","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"class_list":["post-21043","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/21043","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/users\/171"}],"replies":[{"embeddable":true,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/comments?post=21043"}],"version-history":[{"count":2,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/21043\/revisions"}],"predecessor-version":[{"id":21048,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/21043\/revisions\/21048"}],"up":[{"embeddable":true,"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/pages\/20"}],"wp:attachment":[{"href":"https:\/\/cde.nus.edu.sg\/edic\/wp-json\/wp\/v2\/media?parent=21043"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}