Smaller, low speed hub motors for balancing robot


Hi, I’m doing some small balancing robots (similar to hoverboard/segway, but 1 foot tall or smaller) and am looking for good direct-drive motors for this. Ideally, I need something around a 3" (70-90 mm) wheel.

I’m thinking maybe some skateboard hub motors might work but I don’t have enough experience with these to know if they will run ok at slow speeds.

For example, when moving around, the robot shouldn’t go much faster than walking speed. When balancing in place it’s going to be moving the wheels a quarter turn or less, back and forth at low speed.

Can you guys give me some guidance on what BLDC hub motors would work for this with ODrive? Obviously, hoverboard motors would work for this, but I need something smaller, more like a skateboard wheel.