XGO-mini2SW: Desktop Quadruped-Wheeled Robot
Product Status: 🚀 Bridging the gap between legged agility and wheeled speed. The XGO-mini2SW is the first desktop-class robot to successfully integrate FOC hub motors into a mass-produced quadruped platform.
1. Overview: The Ultimate Hybrid Form
XGO-mini2SW combines 12 leg servos, a 4-DOF robotic arm and 4 powered wheels: 20 actuators in total. Its CM5 computer runs Luwu-OS, while the ESP32 controller handles motion over the UART link.
By replacing static feet with Integrated FOC Hub Motors, the mini2SW eliminates the compromise between speed and terrain adaptability. It can cruise silently on flat surfaces like a car, yet instantly lock its wheels and step over obstacles like a dog—all while carrying out manipulation tasks with its integrated robotic arm.
Fig.1 XGO-mini2SW
2. Key Innovations
Hybrid Locomotion Strategy :
High-Speed Rolling: On flat ground, the robot moves efficiently using its 4 wheels, achieving speeds and silence that legged robots cannot match.
Terrain Adaptation: On stairs or rough terrain, the robot utilizes its 12-DOF leg joints to step, climb, and adjust its body height/tilt.
Skating Mode: A unique fusion where the robot utilizes leg kinematics to "push" or "drift" while rolling, similar to ice skating.
Integrated FOC Hub Motor : Unlike bulky external wheel attachments, the mini2SW features a custom-designed Micro FOC Hub Motor integrated directly into the foot end.
Simplified Transmission: Direct drive means no gears, zero backlash, and silent operation.
High Response: The hollow-cup structure ensures minimal inertia for rapid start-stop control.
Optimized 16-Joint Architecture: We re-engineered the actuation system to balance performance and accessibility.
Joints: Powered by 4.5kg.cm Magnetic Encoded Servos, providing the high torque needed for standing up from a rolling position.
Manipulation: Includes the standard 4-DOF robotic arm, making it a fully capable Mobile Manipulator.
3. Technical Specifications
Feature | XGO-mini2SW |
|---|---|
Computer | Raspberry Pi CM5, 4 GB |
Motion controller | ESP32 |
Actuators | 20 (12 leg servos + 4 arm servos + 4 powered wheels) |
Leg servos | 6 V, 4.5 kg·cm, steel gears, 360° magnetic encoder, dual-shaft TTL serial bus |
Powered wheels | 4 × 8.4 V BLDC FOC motors |
Locomotion | Wheeled motion and legged gaits |
Arm | 4 DOF |
Structure | 1.5 mm aluminum alloy |
Legs and feet | Silicone + ABS |
Weight | 1150 g |
Default standing dimensions | 280 × 150 × 180 mm |
Battery | 18650, 2S, 3800 mAh |
Charging | DC barrel connector; use the supplied 8.4 V charger |
Typical runtime | Approximately 2 hours |
Development | Python and ROS |
Table.1 Specification of XGO-mini2SW