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NodeHexa

An open-source ESP32-based six-legged robot with Web control, calibration, performance motions, motion sequences and optional voice interaction.

  • Quadruped
  • No license: all rights reserved by the creator
  • Works with AI
  • arduino
  • 3D printable

Suggested by Robotheca, created by @ViolinLee (opens in a new tab), from github.com/ViolinLee/NodeHexa (opens in a new tab). Pinned to commit ba844a1 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
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.

Some folders have their own license: firmware/lib/ArduinoJson/ (MIT).

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

Which files (9 scripts)

Photo and 3D model

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)

3D model loaded from the original files on GitHub at ba844a1, under NONE. View the original files from GitHub (4.6 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Hexapod robot (NodeHexa) with quadruped firmware support (NodeQuadMini) sharing one Web UI and control framework.
  • Basic movement: forward, backward, turn left and right; lateral left and right; X/Y/Z posture rotation and twisting.
  • Special actions include climbing and fast-forward mode; performance modes Freestyle, Beat Sway and Showtime.
  • Single-leg demo mode for hexapod; quadruped gait switching among Trot, Walk, Gallop and Creep.
  • Motion sequence planner at /planner chains up to 5 actions with cycle, step, distance or angle constraints.
  • Controlled via browser Web UI over WiFi, UART2 serial commands, or WebSocket; optional XiaoZhi voice extension board.
  • Real-time servo calibration from the Web UI, with calibration data saved to Flash storage.
  • Battery voltage monitoring with estimated percentage and low-voltage protection with LED warning.

Works with AI

Found by Robotheca in the project's files at commit ba844a1, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Gather parts and equipment
  2. 2Assemble the legs
  3. 3Assemble the body
  4. 4Compile and flash the firmware
  5. 5Functional testing and debugging

The creator's guide is in the repository. 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 guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32 microcontroller (NodeMCU-32S) as main controller.
  • PCA9685 PWM driver boards driving the servos.
  • Servos; MG90s is the recommended model.
  • Optional XiaoZhi AI extension board for voice control.
  • Optional ESP32-S3 CAM Mini camera module streaming MJPEG video.
  • Optional passive buzzer on GPIO26.
  • Optional ultrasonic distance sensor with Trigger on GPIO4 and Echo on GPIO35.
  • Battery with voltage sensing; the hexapod boards are documented as PCB designs in the hardware folder.

Connections

  • Servo driver boards communicate with the ESP32 over I2C; left and right boards must have different addresses, so the SJ1 jumper is soldered on the left board.
  • The servo driver boards' 1x4P and 1x6P headers are soldered on one side only, with left and right boards opposite.
  • Serial communication with the optional voice board and external hosts uses UART2.
  • Ultrasonic Echo pin must be 3.3 V tolerant, since it is wired to GPIO35.
  • Quadruped schematic is provided as Schematic_NodeQuadMini-V2.pdf; PCB files are not open source.

Schematics, boards and diagrams