WRINGER_

ROBOTICS LAB

Athletic robots that transform to navigate the world.

Our first, Unileg, balances on one wheel, folds into a hoop to roll, and jumps, flips and gets back up. Every move gets put through the wringer in simulation before it gets built.

Meet Unileg

PROJECT 01 · UNILEG

Simulation · 1:2 hardware in design
Unileg standing: a cylindrical torso on a single jointed leg ending in one wheel

One wheel. One leg.

Unileg balances pitch on its wheel, holds roll with a pair of gyros in its torso and turns on a reaction wheel. The leg crouches, jumps and folds the robot into a hoop to roll. The current target is a 1:2 scale model built from hobby parts.

Height
0.83 m
Mass
2.53 kg
Wheels
1
Legs
1
Front flip Off a 0.6 m drop, no thrusters. The reaction wheel dumps momentum to set the landing angle.
Window leap A 6 m/s run-up and a leap through a breakable window pane, with the takeoff found by optimization.
Barrel roll Folds into a hoop, rolls, unfolds, and spins the wheel up before it touches down.
Vault Spring leg, knee lock and pawl. Clears 784 mm at 4.7 m/s against 589 mm for a plain leap.
Self-righting Flat on its back, no thrusters. Kickstand, CMG sit-up and an optimized get-up sequence.
Building run Lobby to elevator to a second-floor unit and out onto the balcony in a generated apartment building.

HOW IT HOLDS UP

  • Crowned wheel Balances pitch and drives.
  • Leg Thigh, belt-driven knee with a parallel gas spring, shin. Hip pitch plus continuous hip yaw.
  • Twin CMG Scissored control moment gyros in the torso hold roll, desaturated by leaning.
  • Reaction wheel Yaw, for smooth turns in place and for flips.
  • Sensor crown Eight-camera ring, thermal, lidar, floor ToF and a forward depth camera.
Close-up of Unileg's sensor crown with camera ring and face screen