Remote-controlled Rover [MDN.RR]

Inspired by Perseverance, the latest rover NASA sent to Mars, I designed this remote-controlled rover: MDN.RR. The MDN.RR is an all-wheel drive vehicle equipped with a 5 DOF arm, which can be used to pick up stuff or move a drone camera.
I used an ESP32 board (**38-pin version**) to decode the PWM signals from an 8-channel 2.4GHz receiver and control the vehicle accordingly. The coding was done in the Arduino IDE.
Each of the four legs consists of a shock absorber, a carbon fiber rod, a control arm (to keep the leg from bending outwards), a geared down DC motor (known as TT motor), an MG996R servo motor (which controls the direction of the wheel) and a 51105 thrust ball bearing (which holds the weight of the vehicle and allows the wheel to rotate with ease). The MDN.RR can be powered with a 2S lipo, which is strategically placed at a low location to optimize the stabilization of the vehicle by keeping the center of gravity as low as possible.

The CAD model can be viewed online at