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
The XGO-mini2SW represents the pinnacle of the XGO desktop series. It builds upon the proven 15-DOF architecture of the XGO but introduces a revolutionary Wheeled-Legged Powertrain.
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 mini3W 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 15-DOF 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 3-DOF robotic arm, making it a fully capable Mobile Manipulator.
3. Technical Specifications
Feature | Specification |
Model | XGO-mini2SW |
Processor | Raspberry Pi CM5 (Edge AI Core) |
Total DOF | 19 Actuators (12 Leg Servos + 3 Arm Servos + 4 Wheels) |
Leg Actuation | 4.5kg.cm Magnetic Encoded Bus Servos |
Wheel Actuation | FOC Brushless Hub Motors (Direct Drive) |
Locomotion | Omni-directional Rolling + Trot/Walk Gaits |
Payload | Robotic Arm (Included) + Sensors |
Power | 8.4V High-Current System (Supports Fast Charging) |
Table.1 Specification of XGO-mini2SW