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PiHexa V1

A hexapod robot powered by Raspberry Pi Zero 2 W and controlled using Python, featuring 18 servo motors and remote operation via Bluetooth.

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

Suggested by Robotheca, created by @ViolinLee (opens in a new tab), from github.com/ViolinLee/PiHexa18 (opens in a new tab). Pinned to commit f172d68 (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.

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

Which files (1 program or installer)

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 f172d68, under NONE. View the original files from GitHub (11.0 MB) (opens in a new tab)

Power
7.4 V

What it can do

Written by Robotheca from the project's documents.

  • Walks on six legs with eighteen servo motors
  • Controlled remotely via Bluetooth Low Energy (BLE) on Raspberry Pi Zero 2 W
  • Simulated walking gaits shown in a Python animation on PC
  • Switches walking modes by keyboard input in the animation

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Setup Raspberry Pi Zero 2 W
  2. 2Running the Main Process
  3. 3Animation

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

  • Raspberry Pi Zero 2 W as main controller
  • Two NXP PCA9685 PWM driver boards for servo control
  • 2S LiPo battery at seven point four volts for power
  • Seven mini360 DC-DC step-down regulators (one for Raspberry Pi at five volts, six for legs at five volts)
  • Bluetooth module on Raspberry Pi for remote control

Connections

  • Raspberry Pi Zero 2 W connected to PCA9685 via I2C bus
  • PCA9685 boards connected to eighteen servo motors
  • Power from 2S LiPo battery distributed through mini360 regulators to Raspberry Pi and each leg