Hexapod Robot STC15 Controller

A hexapod robot controlled by an STC15 microcontroller, featuring a 21-channel servo controller and 3D-printable parts.

Other
No license: all rights reserved by the creator
3D printable

Suggested by Robotheca, created by @ClimbSnail (opens in a new tab), from github.com/ClimbSnail/HexapodRobot_STC15 (opens in a new tab). Pinned to commit 5d26953 (opens in a new tab).

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Hardware license: No license
Software license: No license
Commercial use: Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

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

Which files (1 script, 2 firmware images)

Its license doesn't let Robotheca show its photos.

See the photos on GitHub

What it can do

Written by Robotheca from the project's documents.

Walks with six legs using 21 servo motors
Generates 10 µs precision PWM signals for analog and digital servos
Uses timer-based time-division multiplexing to control multiple servos
Has a beeper for audio feedback
Measures battery voltage via ADC
Supports serial communication on two UART ports
Supports I2C devices such as OLED screens
Drives an onboard LED indicator

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Prepare 3D-printable parts
2Assemble the hexapod structure
3Solder the PCB components
4Flash the STC15 microcontroller with the provided hex file
5Connect and calibrate servos
6Test and adjust the robot's movement

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guide Ask the creator on GitHub

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

STC15W4K48S4 microcontroller
22.1184 MHz crystal oscillator
21 servo motor outputs
Piezoelectric buzzer on P40
Battery voltage measurement circuit on P12
Two UART ports (UART1 on P30/P31, UART2 on P10/P11)
I2C bus on P35/SCL and P34/SDA
Onboard LED on P55
DHT11 sensor interface on P41
MPU6050 IMU interface via I2C

Connections

STC15W4K48S4 MCU controls 21 servo channels via GPIO pins
P44 to P46 and P20 to P27 plus P00 to P07 are wired to servo connectors H1–H9 and L1–R9
P40 drives the beeper
P12 reads battery voltage through ADC
P30/P31 form UART1 for serial communication
P10/P11 form UART2 for serial communication
P35/P34 form I2C bus for OLED and MPU6050
P41 connects to DHT11 data pin
P55 drives the onboard LED indicator

Schematics, boards and diagrams

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 30/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, Altium Designer 17 (for PCB), Keil 4 (for code), STC programmer

Buildability30/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 5d26953. It isn't a rating of the robot.

3D and CAD files10/20
1 printable part (STL, 3MF).
Add the CAD source (STEP, or the CAD program's own files) so people can change the design.
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation10/15
README of 1,305 characters with 3 pictures; 6 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses0/10
Hardware: no license; software: no license.
Add a license for the hardware (e.g. CERN-OHL-S-2.0 or CC-BY-SA-4.0). Add a license for the software (e.g. MIT or Apache-2.0).

Software

Framework: Not stated
Languages: C
License: NONE

The code

HexapodRobot_Code_STC15/C · 24 files

How to run it

Written by Robotheca from the project's documents.

Open the Keil 4 project in HexapodRobot_Code_STC15 folder
Compile the code to generate Robot.hex
Flash Robot.hex to the STC15W4K48S4 MCU using STC’s ISP tool
Power the board and servos to start walking

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit 5d26953.

Community

Questions and improvements go to the creator's repository.

Photo