AEROFOX Z1 Wheel-Legged Robot Platform Robot Chassis ROS Compatible 4WD
AEROFOX Z1 is an open-source wheel-legged robotic mobility platform designed for research, education, and OEM robotic development.
By combining driven wheels with articulated leg mechanisms, Z1 achieves a balance between high-speed wheeled motion and enhanced terrain adaptability, making it suitable for complex indoor and outdoor environments.
The platform is delivered as a robotic base system. Once equipped with a battery, the robot can be directly remote-controlled. Autonomous navigation, mapping, and perception functions require users to integrate their own onboard computer and sensors.
Product Overview
AEROFOX Z1 is an open-source wheel-legged robotic mobility platform designed for research, education, and OEM robotic development.
By combining driven wheels with articulated leg mechanisms, Z1 achieves a balance between high-speed wheeled motion and enhanced terrain adaptability, making it suitable for complex indoor and outdoor environments.
The platform is delivered as a robotic base system. Once equipped with a battery, the robot can be directly remote-controlled. Autonomous navigation, mapping, and perception functions require users to integrate their own onboard computer and sensors.
Key Features
Combines wheel efficiency with leg-based obstacle adaptability for stairs, curbs, and uneven terrain.
Operates in teleoperation mode after battery installation, suitable for motion testing and demonstrations.
All core control software is open-source, enabling full customization and secondary development.
Supports ROS 2 communication for mobile base control and algorithm development.
Multiple power outputs and standardized mounting positions for rapid system integration.
Key Features
Remote control operation supported by default
Parameters
|
Version/Parameter |
Lunchi WheelSmart S-01 (Long Leg Ver.) |
Lunchi WheelSmart S-02 (Short Leg Ver.) |
Remarks |
| Default Height (L*W*H) | 39*46*39cm | 31*46*39.5cm | Slight error in manual measurement |
| Self-weight (kg) | 6.5 |
6.3 |
Excluding battery weight |
| Operating Voltage | 24V | 24V | Battery Spec: 24V 4000mah 75C 6S RC Battery |
| Rated Load Capacity (kg) | 2 |
5.5 |
Including battery (500g), cannot work long-term over rated load (motor overheats) |
| Max Moving Speed (m/s) | ±2 | ±2 | Test Condition: Moving on horizontal surface, no load |
| Heading Angular Velocity (rad/s) | ±5 | ±5 | Max value adjustable via lower computer code |
| Jumping Height (cm) | 35 | Not Supported | No-load Condition |
| Pitch Angle Control (°) | ±35 | ±35 | At default height (max adjustable via lower computer code) |
| Roll Angle Control (°) | ±15 | ±15 | At default height (max adjustable via lower computer code) |
| Battery Life | 2~3h | 3~4h | Tested in dev/param scenario, battery: 24V 4000mah 75C |
| Mainboard Chip | ESP32S3 | ESP32S3 | |
| Remote Ctrl + Subs Receiver | HT-10A (Dual Centering) | HT-10A (Dual Centering) | |
| Motor | FS6010-8*6 | FS6010-8*6 | CAN Communication 1M |
| Control Method | Remote Ctrl | ROS2 | Remote Ctrl | ROS2 | ROS topics control movement/posture, secondary dev for joint control |
| Documentation | STL models, source code, schematics, manual, ROS2/URDF packages | STL models, source code, schematics, manual, ROS2/URDF packages |
What’s Included
Optional Configurations
Typical Applications
Open-Source Information
https://gitee.com/hu-guo-xuan/electric-version-wheel-foot
Product display
Extensive Experience in UAV & Robotics Technologies
Independent Flight Control System Development Advanced Powertrain Engineering Professional Intelligent Battery Development