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wtf is one-robot?

peng-zhihui/one-robot — explained in plain English

Analysis updated 2026-07-18 · repo last pushed 2020-02-15

★ 760CAudience · researcherComplexity · 4/5DormantSetup · hard

TL;DR

Open-source firmware and 3D models for a self-balancing unicycle robot, using an IMU and STM32 microcontroller to stay upright like a rider leaning to balance a bicycle.

Mindmap

mindmap
  root((one-robot))
    What it does
      Balances on one wheel
      Reads IMU sensor data
      Runs balancing algorithm
    Tech Stack
      C
      STM32
      PWM motor control
    Use Cases
      Study control systems
      Learn sensor fusion
      Build a hobby robot
    Audience
      Roboticists
      Engineering students
      Hobbyists

Code map

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filefunction / class

Why would anyone build with this?

REASON 1

Study a working example of how self-balancing devices like Segways use sensor fusion and control loops.

REASON 2

Learn embedded programming by examining STM32 firmware that reads encoders, gyroscope, and accelerometer data.

REASON 3

Build or rebuild the physical robot using the provided 3D models and firmware code.

REASON 4

Experiment with tuning the balancing algorithm to understand motion control in practice.

What's in the stack?

CSTM32

How it stacks up

peng-zhihui/one-robottj/histo21cncstudio/project_aura
Stars760696617
LanguageCCC
Last pushed2020-02-152013-03-11—
MaintenanceDormantDormant—
Setup difficultyhardeasymoderate
Complexity4/52/53/5
Audienceresearcherops devopsgeneral

Figures from each repo's GitHub metadata at analysis time.

How do you spin it up?

Difficulty · hard Time to first run · 1day+

The original circuit board design is lost, so you'd need to recreate it from the described components.

Yoink these prompts

Prompt 1
Walk me through how the balancing algorithm in this firmware uses IMU data to keep the robot upright.
Prompt 2
Explain how the STM32 microcontroller in this project reads wheel encoder data and controls the motors with PWM.
Prompt 3
Help me understand which 3D-printed parts I'd need to rebuild this self-balancing unicycle robot.
Prompt 4
Compare this project's sensor fusion approach to how a Segway or self-balancing skateboard works.

Frequently asked questions

wtf is one-robot?

Open-source firmware and 3D models for a self-balancing unicycle robot, using an IMU and STM32 microcontroller to stay upright like a rider leaning to balance a bicycle.

What language is one-robot written in?

Mainly C. The stack also includes C, STM32.

Is one-robot actively maintained?

Dormant — no commits in 2+ years (last push 2020-02-15).

How hard is one-robot to set up?

Setup difficulty is rated hard, with roughly 1day+ to a first successful run.

Who is one-robot for?

Mainly researcher.

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