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Hexapod Robot

A six-legged walking robot with inverse kinematics control and a PC-based interface for movement and posture adjustments.

  • Quadruped
  • Open source
  • 3D printable

Suggested by Robotheca, created by @AlexanderJFDR (opens in a new tab), from github.com/AlexanderJFDR/hexapod_robot (opens in a new tab). Pinned to commit 33877a3 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
MIT (opens in a new tab)
Software license
MIT (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (148 programs or installers, 1 firmware image)

Photo

Hexapod Robot, photo from its repository
Photo:@AlexanderJFDR (opens in a new tab)MITsource file (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Moves with six legs each driven by three MG996R servos
  • Walks forward, backward, and turns using triangle or ripple gaits
  • Changes posture when stationary via keyboard or input fields
  • Allows custom control of each servo angle in real time
  • Supports serial and Bluetooth communication with the servo controller
  • Runs a graphical user interface for control and configuration

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Mechanical Design and 3D Printing
  2. 2Hardware Assembly
  3. 3Software Development and Testing

The guide appears here as you scroll.

Guide by @AlexanderJFDR (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Yeahbot 24-channel servo controller board
  • ATK-USB-UART-V1.2 USB-to-serial converter module
  • 18650 12 V 5600 mAh lithium battery pack
  • LM2596S DC-DC adjustable buck converter module for 5 V supply

Connections

  • Servo controller board receives power from the LM2596S 5 V output
  • Servo controller board connects to ATK-USB-UART-V1.2 for USB-to-serial communication
  • MG996R servos are wired to the 24-channel servo controller board