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LSF760 Large Wheeled Biped Robot Development Platform
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The LSF760 is a large wheeled biped robot development platform for advanced self-balancing control, whole-body motion research, LQR-based control, reinforcement-learning experiments, autonomous robotics, and high-dynamic locomotion development. It combines articulated leg motion with high-power wheel drive, allowing researchers to study dynamic balance, posture regulation, terrain adaptation, fast turning, and disturbance rejection on a larger and more powerful platform.
- Large wheeled-biped platform for high-dynamic motion-control research
- LQR and PID control modes for self-balancing and motion experiments
- Whole-body kinematic model with real-time posture and wheel-speed feedback
- 4 high-torque joint actuators + 2 hub motors
- 25 A high-power brushless motor drive architecture
- CAN bus, RS485, serial, and RC control support
- Supports NVIDIA Isaac Gym reinforcement-learning workflows
- Designed for uneven terrain, slopes, rapid turns, and disturbance-rejection research
Product Overview
The LSF760 is the larger wheeled-biped platform in the LucSys research robot lineup. Compared with compact desktop-scale wheeled bipeds, it provides a larger mechanical structure, higher-power drive electronics, high-torque joint actuators, and hub motors for experiments that require higher dynamic loads and stronger disturbance rejection.
The robot uses a whole-body kinematic model and adaptive self-balancing control to monitor body posture, wheel speed, and motion state in real time. Joint positions and wheel torque can then be adjusted to maintain stable movement on uneven ground, slopes, rapid turns, and other dynamic conditions.
The control architecture supports both conventional PID control and LQR (Linear Quadratic Regulator) control. LQR uses full-state feedback and system-state estimation to improve response and stability in high-dynamic scenarios while reducing reliance on extensive manual PID tuning.
LQR Self-Balancing Control
Full-State Feedback
The latest control strategy introduces LQR control using full-state feedback. This allows the controller to respond to the robot's overall dynamic state rather than tuning each behavior only through independent PID loops.
High-Dynamic Stability
LQR-based control is intended to improve self-balancing performance and response speed during acceleration, braking, turning, slope traversal, and other high-dynamic maneuvers.
PID + LQR Research Platform
The platform supports both PID and LQR control approaches, making it suitable for comparing control strategies, studying full-state feedback, and validating custom balancing algorithms.
Hardware & Control Architecture
| Component | Specification / Function |
|---|---|
| Main Controller | Dedicated robot control board |
| Brushless Motor Drivers | 25 A high-power brushless motor driver boards |
| Servo / IMU Control | Multi-channel servo + IMU module |
| Communication | CAN + RS485 communication module |
| IO Expansion | IO adapter / expansion interface |
| Joint Actuators | 6010 integrated joint motors |
| Wheel Drive | Hub motors with Hall sensor interface |
| Control Modes | PID and LQR |
| External Control | CAN bus / Serial / RC |
Robot Specifications
| Parameter | Specification |
|---|---|
| Robot Type | Large wheeled biped robot development platform |
| Dimensions | 500 × 560 × 160–500 mm |
| Weight | Approx. 10 kg |
| Actuators | 4 high-torque joint actuators + 2 hub motors |
| Joint Output | 11 N·m high-torque output |
| Joint Speed | 420 rpm rated speed after reduction |
| Motor Driver | 25 A high-power brushless driver |
| Battery System | 22.2 V 6S LiPo battery system |
| Learning Framework | NVIDIA Isaac Gym supported |
| Communication | CAN bus / RS485 / Serial / RC |
| Battery Included | No |
Reinforcement Learning & Isaac Gym
The LSF760 supports NVIDIA Isaac Gym as a learning framework for simulation-based robotics research. This allows researchers to investigate learning-based balance control, locomotion, motion-policy training, and simulation-to-robot workflows alongside classical control methods.
The combination of LQR, PID, whole-body modeling, and reinforcement-learning support makes the LSF760 useful for projects comparing model-based control with data-driven control on the same physical platform.
Terrain & Dynamic-Motion Research
Uneven Terrain & Slopes
The platform is designed for experiments on uneven ground and slopes, where joint position and wheel torque must be coordinated to maintain posture and traction.
High-Dynamic Turning & Disturbance Rejection
Real-time state feedback and high-power actuation support research on rapid turns, acceleration, braking, dynamic posture adjustment, and recovery from external disturbances.
Battery Notice
Due to international shipping regulations, the LSF760 is shipped without a battery. Customers must prepare a compatible 22.2 V 6S LiPo battery locally before operation.
Applications
Advanced Balance-Control Research
Study LQR, PID, whole-body modeling, state feedback, disturbance rejection, wheel-torque control, and leg-joint coordination on a larger high-power robot platform.
Reinforcement Learning & Hybrid Control
Use Isaac Gym simulation and the physical robot to explore learning-based locomotion, policy validation, and hybrid combinations of classical and data-driven control.
University & Research Laboratory Development
The open control architecture is suitable for university robotics laboratories, motion-control courses, advanced mechatronics projects, autonomous robotics research, and prototype development.
Need Help Selecting?
For a smaller wheeled-biped research platform, compare the LSF530 wheeled biped robot research platform. For a modular four-wheel-legged architecture, compare the LSF740 modular wheeled quadruped robot. For humanoid reinforcement-learning research, see the LSF830 biped humanoid robot development platform.
Key Features
1. LQR + PID Self-Balancing Control
The LSF760 supports both LQR and PID control approaches. LQR uses full-state feedback to improve dynamic response and stability in high-dynamic scenarios while reducing reliance on extensive manual PID tuning.
2. Whole-Body Dynamic Control
The control system monitors body posture, wheel speed, and motion state in real time, coordinating wheel torque and leg-joint position to maintain balance during acceleration, braking, turning, and slope traversal.
3. High-Power Brushless Drive Architecture
The robot uses high-power 25 A brushless motor driver boards together with integrated joint actuators and hub motors for larger-scale wheeled-biped motion experiments.
4. CAN + RS485 Communication
The robot includes CAN + RS485 communication hardware, multi-servo + IMU control, IO expansion, and Hall-sensor interfacing for coordinated real-time control.
5. Reinforcement Learning with Isaac Gym
NVIDIA Isaac Gym is supported as a learning framework, allowing researchers to explore reinforcement learning, simulation-based control, and hybrid model-based / learning-based locomotion strategies.
6. Large Research-Scale Platform
The LSF760 measures approximately 500 × 560 mm, has an adjustable height of 160–500 mm, and weighs approximately 10 kg, providing a larger test platform for high-power dynamic control experiments.
7. Open Secondary Development
Researchers can modify supported control algorithms, communication logic, sensor integration, and higher-level software according to project requirements.
Frequently Asked Questions
What is the LSF760 designed for?
The LSF760 is designed for advanced wheeled-biped balance control, LQR and PID research, whole-body motion control, reinforcement learning, autonomous robotics, and high-dynamic locomotion experiments.
Does the LSF760 support LQR control?
Yes. The control system supports LQR (Linear Quadratic Regulator) control using full-state feedback, together with conventional PID control.
Why use LQR instead of only PID?
LQR uses system-state feedback to optimize the overall control response. On this platform it is intended to improve dynamic stability, response speed, and disturbance rejection while reducing reliance on extensive manual PID tuning.
What actuators are used?
The robot includes four high-torque integrated joint actuators and two hub motors. The robot uses 6010 integrated joint motors.
What are the joint actuator torque and speed?
11 N·m high-torque output and 420 rpm rated speed after reduction for the integrated joint actuators.
What motor driver is used?
The platform uses 25 A high-power brushless motor driver boards for the wheeled-biped control architecture.
What communication interfaces are available?
The platform supports CAN bus, RS485, serial communication, and RC control.
Does the robot support reinforcement learning?
Yes. NVIDIA Isaac Gym is a supported learning framework for simulation and reinforcement-learning research.
What terrain can the LSF760 be used to study?
Typical experiments include uneven terrain, slopes, rapid turns, acceleration and braking, dynamic posture adjustment, and external-disturbance recovery.
What are the dimensions and weight?
dimensions of approximately 500 × 560 mm with adjustable height from 160 to 500 mm, and a total robot weight of approximately 10 kg.
What battery system does the LSF760 use?
a 22.2 V 6S LiPo battery system.
Is the battery included?
No. Due to international shipping restrictions, the LSF760 is shipped without a battery. Customers should prepare a compatible 22.2 V 6S LiPo battery locally.
Can I modify the control algorithms?
Yes. The platform is intended for robotics research and secondary development, allowing users to modify supported balance-control strategies, communication logic, sensor integration, and higher-level software.
How does LSF760 compare with LSF530?
LSF530 is the smaller desktop-scale wheeled-biped research platform. LSF760 is substantially larger and heavier, with higher-power drive hardware and a 22.2 V 6S battery architecture, making it better suited to high-dynamic and higher-load experiments.
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We offer free standard shipping on orders.
2. Customs & Import Fees
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Our shipping terms are based on Ex-Works (EXW) or FCA (Origin), which means any import duties, taxes, or local customs fees are the sole responsibility of the customer. While our carriers provide basic assistance with the clearance process, we are not responsible for delays or costs imposed by your local authorities.
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3. Order Processing Time
Orders are typically processed within 48 hours after placement and shipped the next business day.
Orders placed on weekends or public holidays will be shipped on the next working day.
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