Bridging AI and Robotics on Your Desktop
The XGO series is an open-source desktop robotic platform designed to bridge the gap between educational toys and industrial research robots. Unlike traditional consumer robots that run on closed "black box" systems, XGO is built on a philosophy of "Unified Intelligence, Diverse Morphologies." We believe that a robot dog, a wheeled-legged robot, or a robotic arm should all share the same intelligent brain, allowing your code and AI applications to live anywhere in the ecosystem.
Fig.1 XGO Family
1.The "One Head" Architecture: Hardware & Software Fusion
At the heart of every XGO robot—whether it's the quadruped lite3/mini2S or the wheeled-legged Rider2—lies a unified intelligent core: the Raspberry Pi Compute Module 5 (CM5). By standardizing the brain, we ensure that your code, AI models, and applications are perfectly portable across the entire XGO ecosystem.
Fig.2 XGO-CM5
The Hardware: A Complete Sensory Array
The XGO-CM5 module is more than just a processor; it is a fully integrated Human-Machine Interaction (HMI) terminal designed for Edge AI.
·Visual Cortex: A front-facing OV5647 Camera (5MP) serves as the robot's eyes, optimized for high-framerate Computer Vision tasks.
·Interactive Display: A 2.0-inch IPS screen (320*240) provides real-time feedback. Unlike headless robots, XGO allows you to debug, check IP addresses, and switch modes directly on the device.
·Auditory System: Equipped with Dual MEMS Microphones and a speaker, the module supports noise cancellation and far-field voice recognition, enabling natural conversation with the robot.
The Software: LUWU OS & "Battery Included" Ecosystem
To unleash this hardware potential, we built LUWU OS, A Smart Interface based on Raspberry Pi OS. It features a unique Python-based UI system, making the interface fully transparent and hackable for developers.
We adhere to a "Battery Included" philosophy—meaning the system comes pre-loaded with everything you need to start developing in minutes, not days:
·Core Drivers: Custom Device Tree Overlays (DTOs) ensure the screen, camera, and audio work instantly upon first boot.
·Development Stack: The official XGO-Python-Lib packages are pre-installed, offering industry-standard control for both beginners and researchers.
·Built-in AI Demos: The OS includes local AI capabilities powered by the quad-core CM5, including Face Detection , Hand Gesture Tracking , and LLM-based Voice Interaction (e.g., ChatGPT).
Whether you are using Blockly for visual programming on a PC or writing advanced Python scripts via SSH, the LUWU provides a unified, robust foundation for your creativity.
Fig.3 LUWU OS
2.Biomimetic Motion Control (The Cerebellum)
Real robotics requires real control theory. The XGO series delegates motion control to an independent ESP32-based "Lower Computer". This separation of concerns ensures that the robot maintains perfect balance even while the AI brain is processing complex heavy workloads.
·For Quadrupeds (lite3/mini2S): We utilize 15 high-torque serial bus servos with magnetic encoders to implement Inverse Kinematics and omnidirectional gaits. The system reads joint position, temperature, and current in real-time.
·For Two Wheeled-Legged (Rider2): We integrate FOC (Field Oriented Control) hub motors to achieve industrial-grade self-balancing and silent maneuvering, combined with servos for height and tilt adjustments.
·For Four Wheeled-Legged (mini2SW): We integrate 4 high-torque FOC hub motors with 15 precision serial bus servos equipped with magnetic encoders, fusing wheeled mobility and quadrupedal dexterity. The system enables adaptive gait-switching between omnidirectional wheeled maneuvering and quadrupedal walking, while monitoring joint position, motor temperature, and real-time current in all motion modes.
3.Built for Makers & Researchers
XGO is not a "Black Box." We provide full access to the hardware and software stack:
·Hardware: We release open schematics for the driver board and STP files for structural customization.
·Software: From graphical Blockly coding for beginners to Python and ROS for robotics researchers.
We believe the best way to learn robotics is to dismantle, reprogram, and rebuild it.
4.Actuator: Serial bus servos & motors, high quality & durability.
·XGO-mini2S
The XGO-mini2S modular servo joint integrates a coreless DC motor, a metal reduction gear set, a 12-bit magnetic encoder, and a comprehensive control circuit.Featuring a built-in closed-loop control and planning algorithm, the servo supports high-speed bus communication and continuous 360-degree rotation.It provides real-time feedback on speed, position, current, and temperature, along with adjustable control parameters for high-performance operation.The customized joint allows for PID parameter tuning and optimized impedance control (compliance).By leveraging kinematic gait planning, Center of Gravity (CoG) analysis, and IMU feedback, it executes real-time adjustments based on high-level commands. Additionally, the high-efficiency reducer with a large gear ratio ensures flexibility and significantly improves the payload-to-weight ratio.
Fig.5 Servo of XGO-mini2S
·XGO-Rider2
Comprising precision reduction gears, sensors, and integrated control circuits, the system utilizes an advanced PID servo control algorithm. It overcomes the limitations of traditional open-loop servos by featuring a fully closed-loop design with 360° controllable range.
With a high-precision angular resolution of 0.088°, the servo incorporates built-in acceleration and deceleration profiles (start-stop planning). This ensures smooth, realistic, and organic mechanized movements.
Video.1 Servo of Rider2
Featuring integrated control circuitry, this brushless motor offers an extended service life and delivers a peak output torque of up to 2 kg·cm. In open-loop speed mode, it enables travel speeds exceeding 100 cm/s.The unit is driven by a built-in MCU paired with a 14-bit high-precision magnetic encoder, allowing for precise 360° angle control. Advanced PID algorithms manage motion control to ensure smooth acceleration, deceleration, and rapid response. Furthermore, built-in overcurrent and stall protection mechanisms guarantee reliability under diverse operating conditions.
Video.2 Motor of Rider2