Replication Guide

RIG-Hover is an open hardware desktop robot. This guide explains the maker workflow from sourcing and printing to flashing and first balance.

Skill Level

You should be comfortable with:

• 3D printing and slicer settings.

• Removing supports and tuning printed part tolerances.

• Handling FPC cables.

• Basic lithium battery safety.

• USB serial flashing.

• Reading serial logs and following technical checklists.

Phase 1: Prepare Parts

Use BOM.mdas the purchasing reference. For the first build, the recommended path is the official electronics kit because balance quality depends on the main board, IMU, motor direction, encoder feedback, servo protocol, battery, and center of gravity working together.

Important: do not use ordinary geared motors. RIG-Hover relies on high-rate feedback control and requires closed-loop FOC hub motors with encoder feedback.

Phase 2: Print Mechanical Parts

Recommended settings:

Post-processing:

• Remove all supports completely.

• Deburr screw holes, cable grooves, and snap-fit areas.

• Test-fit motor connectors before final assembly.

• Test-fit the EM3 servo mount.

• Check that the head shell does not collide with the servo range.

• Keep a printed part revision number if you modify geometry.

Phase 3: Electronics Bench Test

Before closing the shell:

1. Connect display, camera, speaker, battery, motors, and servo.

2. Flash official firmware or a known-good developer build.

3. Confirm the screen lights up.

4. Confirm the head servo can move.

5. Confirm both wheel motors provide feedback.

6. Check IMU roll, pitch, and yaw through serial logs or the Web debug page.

7. Keep wheels suspended during first motor tests.

Phase 4: Assembly

Follow 06-Assembly-Guide.md. Pay special attention to:

• FPC orientation for display and camera.

• Motor left/right mapping.

• Servo cable order.

• Battery polarity and cable strain relief.

• Cable routing away from wheels.

• Correct motor screw length.

• Printed parts not being overtightened.

Phase 5: Flash Firmware

For regular users, use the official flashing page:

https://tools.luwudynamics.ai

For developers, build from LuwuDynamics/rig_omni. See 07-Firmware-Guide.md.

Phase 6: First Balance

1. Fully charge the battery.

2. Place the robot on a flat desktop.

3. Hold it vertical.

4. Turn on power.

5. Keep holding it for 2 to 3 seconds.

6. Release slowly after the wheels generate gentle counter-torque.

7. If it falls, turn it off and inspect the issue before trying again.

Phase 7: Tuning and Acceptance

Follow 08-Tuning-Guide.md. Acceptance criteria:

• Wheels rotate freely when suspended.

• Motor direction and encoder feedback match firmware assumptions.

• Hand-held balance does not create violent oscillation.

• Free-standing balance is stable.

• A light tap is followed by quick recovery.

• Head left, head right, and head center work.

• Screen, microphone, speaker, Wi-Fi setup, and voice commands work.

• Move forward, move backward, rotate left, and rotate right commands work conservatively.