--- title: "Meridian LITE" url: "https://maker.wiznet.io/ssekim/projects/meridian-lite/" markdown_url: "https://maker.wiznet.io/ssekim/projects/meridian-lite/md" type: "UCC: User Created Content" author: "Micchy dreamdrive" author_url: "https://github.com/dreamdrive/Meridian_LITE" editor: "WIZnet" editor_url: "https://maker.wiznet.io/" original_author: "Micchy dreamdrive" original_url: "https://github.com/dreamdrive/Meridian_LITE" published: "2025-11-27" language: "en" tags: ["W5500", "ESP32"] hardware: ["WIZnet W5500"] likes: 0 views: 494 comments: 0 source: "WIZnet Makers (https://maker.wiznet.io/)" --- # Meridian LITE > A project that implements ethernet communication between a robot and its control system Original author: Micchy dreamdrive (source: https://github.com/dreamdrive/Meridian_LITE) ## Components - **WIZnet W5500** x 1 ([docs](https://docs.wiznet.io/Product/Chip/Ethernet/W5500)) WIZnet parts: W5500 ([Datasheet](https://docs.wiznet.io/Product/Chip/Ethernet/W5500/datasheet?utm_source=maker&utm_medium=project&utm_campaign=w5500), [product hub](https://maker.wiznet.io/products/w5500/)) ## Article ## 1. MERIDIAN Overview ![](https://maker.wiznet.io/upload/ckeditor5/1071067334%5F1764312578%2Epng) MERIDIAN is an open-source project designed to facilitate the control and development of humanoid robots. By adhering to widely adopted hardware standards, established rules, and commonly used software — while providing a mechanism that acts as a “meridian (connecting pathway)” between them — the project aims to create a highly flexible system architecture and development environment that existing commercial products cannot offer. MERIDIAN TWIN is an open-source data-communication framework that combines **real-time control, state sharing, and digital-twin syncing** for humanoid and multi-joint robots. It keeps the robot hardware and the PC/simulator synchronized at **100 Hz** with almost no delay, making the test → simulation → real-robot control loop smooth and continuous. ![](https://maker.wiznet.io/upload/ckeditor5/857257484%5F1764159424%2Epng) ### Key Features | Category | Description | | --- | --- | | **low-latency real-time loop** | A Teensy 4.0 collects servo and IMU data and packs it into a Meridim array → An ESP32 sends it wirelessly at **100 Hz** | | **Fully ROS compatible** | Meridim data can be mapped to ROS messages and visualized | | **Modular & DIY-friendly** | All circuits, firmware, and PC tools are open. Users can add new modules or select only what they need | ## 2. Real-time Robot State Transfer Over WiFi The robot’s MCU controls and reads the servos and 9-axis IMU sensors (MPU6050, AHRS, etc.) in real time. The MCU then organizes this data into a **lightweight Meridim data array**. An ESP32 sends this data **wirelessly at 100 Hz**, creating a fast loop between the robot and the PC/simulator. This allows the real robot and its digital model to stay synchronized with almost no visible delay, providing real-time feedback and smooth twin operation. ![meridian_console](https://raw.githubusercontent.com/Ninagawa123/Meridian_console/main/image/console_img.jpg) [Embedded media](https://www.youtube.com/embed/4ymSV_Dot-U) ## 3. Implementing MERIDIAN TWIN with W5500 This repository is based on **Meridian_LITE v1.0.1**, with the following changes: The communication method was changed from **WiFi to wired Ethernet**. The servo system was changed from **KONDO servos to Dynamixel**. A more detailed explanation is also available on the blog: ![](https://maker.wiznet.io/upload/ckeditor5/857257484%5F1764160962%2Epng) ### 4. Comparison: ROS2 vs. MERIDIAN TWIN ROS (Robot Operating System) and MERIDIAN TWIN are **not competing platforms**. They work in different layers of a robot system and complement each other. **ROS** provides a high-level Robot software environment (algorithms, visualization, planning). **MERIDIAN** provides a **low-latency real-time data loop** between the robot’s MCU and the control system. ![](https://maker.wiznet.io/upload/ckeditor5/1071067334%5F1764312227%2Epng) They serve different purposes but work well together. | | **ROS2** | **MERIDIAN TWIN** | | --- | --- | --- | | Role | High-level Robot software platform (Rich OS) | Real-time data framework between MCU and control system | | **Update cycle** | Depends on configuration | Fixed **100 Hz** | | Relationship | Complementary, not competitive | Works as the real-time layer | **Reference ROS content:** ## 5. Advantages of Ethernet in Robot Control Robot control requires **precise timing, stable data flow, and tight synchronization** between hardware and simulators. In real-time control and digital-twin systems, performance depends heavily on **latency, jitter, and noise resistance**. For these reasons, **wired Ethernet** is often the best match for robot control frameworks. Using MERIDIAN TWIN with **W5500 Ethernet** maximizes these benefits: - Very stable and predictable timing - Minimal jitter and packet loss - Strong resistance to electrical noise - Ideal for 100 Hz real-time loops - Excellent for digital-twin synchronization In short, **W5500 + MERIDIAN TWIN** creates a highly reliable, low-latency pipeline for real-time robot control, simulation, and digital-twin systems. ## 6. Meridian Arduino Library ![](https://maker.wiznet.io/upload/ckeditor5/1071067334%5F1764310923%2Epng) --- Source: https://maker.wiznet.io/ssekim/projects/meridian-lite/