# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Hexapod
summary: A custom 6-legged walking robot with 3D-printed parts, 18 MG996R servos and a Raspberry Pi 5, built from scratch.
category: humanoid
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/mike-tr/Hexapod
  ref: f9cfdc379899f630c8652d926dad77a94f83b948
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: cad/stl/
  cad: cad/freecad/
  images:
    - media/2legs+1leg_assembled.jpeg
build_steps:
  - title: Design the legs and chassis in FreeCAD
  - title: 3D print the leg and body parts
  - title: Assemble the first three legs
  - title: Assemble all six legs
  - title: Mount the PCB and Raspberry Pi 5 to the chassis
  - title: Wire all 18 servos to the PCB
  - title: Implement inverse kinematics
  - title: Implement the tripod gait for walking and turning