StackForce (sold by Seeed Studio) StackForce Mini Wheel-Legged (1)

StackForce (sold by Seeed Studio) StackForce Mini Wheel-Legged (2)

StackForce (sold by Seeed Studio) StackForce Mini Wheel-Legged (3)

$299Seeed direct. OpenELAB pre-sale $578. Also AliExpress

AvailableWheel balanceCheapest real balancerOpen firmwareTinkerer kit

Weeks+Shipping: 1–3 wks. In stock at Seeed but ships from its China warehouse. Seeed ↗

Seeed ↗Wiki ↗Source ↗

Overview

The purist's pick, since it is the cheapest real dynamic balancer here and the balance controller is fully open to read and change. No Linux, camera or AI, and docs lean Chinese (Gitee/Bilibili). Buy it for the control loop more than companion features.

Specifications

Category	Bipeds · Wheel-legged balancers
Released	2024
Availability	Available
Programmability	Open source (hardware + software)
Best for	Ages 14+ (estimated)
Vision sensors	No vision sensors
Actuators	Mixed
Audio	No audio
Compute type	Arduino / ESP32 / microcontroller
Balance type	Wheel balance
Height	12–21 cm (adjustable)
Weight	540 g
Compute	ESP32
Speed	Not published
DOF	6 (4 leg servos + 2 × 2208 BLDC wheel motors, FOC)
Sensors	IMU, 2 × MT6701 14-bit encoders
Balance	Active wheel balancing on FOC brushless motors with a full-body kinematic model. The maker says it handles rough terrain and can go down stairs.
SDK	Open-source C++ firmware (PlatformIO, Gitee), Wi-Fi, PS4 pad, RC or serial. No ROS/Python on-board