Robotics & Hardware · 2024 · prototype
Mini Mars Rover using ESP32-C3
Rocker-bogie planetary rover prototype with ESP32-C3 Wi-Fi/BLE telemetry and telemetry dashboard.
01 / Overview
A miniature planetary exploration rover chassis utilizing the classic rocker-bogie passive suspension mechanism. Powered by the RISC-V based ESP32-C3, it maintains equal wheel ground pressure across uneven rocky obstacles without tipping.
02 / Problem
Traversing extreme uneven rocky terrain causes conventional rigid-chassis 4-wheel rovers to lose wheel contact, resulting in loss of traction and rollover.
03 / Contribution
Researched rocker-bogie mechanical linkages, integrated ESP32-C3 RISC-V microcontroller, and established Wi-Fi web-socket command link.
04 / System architecture
Physical + hardware
- ESP32-C3 RISC-V 32-bit single-core microcontroller
- 6-wheel independent drive motors with high-friction tread geometry
- Differential rocker-bogie suspension linkage mechanism with passive mechanical averaging
- Onboard 2S Li-ion battery pack with integrated battery fuel gauge
Firmware + software
- Async WebSocket server running on ESP32-C3 serving real-time telemetry dashboard
- Independent 6-wheel differential steering compensation algorithm
Signal flowESP32-C3 host communicating over I2C to 16-channel PWM driver and INA219 current/voltage sensor, powered through buck converter.
05 / Engineering decisions
- 01Selected the rocker-bogie mechanism to distribute vehicle weight across all six wheels continuously, doubling obstacle climb height without springs.
06 / Results + constraints
Observed results
- Traversed obstacles up to 1.5 times wheel diameter without chassis body tilt exceeding 15 degrees.
- Responsive low-latency wireless control over local Wi-Fi access point.
Current limitations
- Currently uses 3D printed mechanical pivot pins that will be upgraded to stainless steel bearings for long-term endurance.