Six-legged Robot

A six-legged robot controlled by STM32 microcontrollers with multi-modal control including cloud, WiFi, Bluetooth, voice, and gesture recognition.

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

Suggested by Robotheca, created by @linyongxinhio (opens in a new tab), from github.com/linyongxinhio/Six-legged-Robot (opens in a new tab). Pinned to commit b7b2e98 (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 (2 scripts, 2 programs or installers, 3 firmware images)

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

Moves using six legs with multiple gait patterns
Controlled via cloud server over Wi-Fi
Controlled via Bluetooth from a phone app
Controlled via voice recognition
Controlled via hand gesture recognition
Displays status and data on a screen

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

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

Main control board with STM32F103VET6 microcontroller
Servo control board with STM32F103R8T6 microcontroller
Servo motors for leg movement
Wi-Fi module for cloud communication
Bluetooth module for phone app control
Voice recognition module
Hand gesture recognition module
Screen for data display and status
Power supply and voltage regulation circuits

Connections

Main control board and servo control board connected via serial UART
Servo motors connected to servo control board
Wi-Fi module connected to main control board
Bluetooth module connected to main control board
Voice recognition module connected to main control board
Hand gesture recognition module connected to main control board
Screen connected to main control board

Schematics, boards and diagrams

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 20/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, Altium Designer, Keil5, Android Studio

Buildability20/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit b7b2e98. 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…).
Documentation0/15
README of 681 characters with 0 pictures; 0 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it. Split the build into at least 3 steps. Show the robot and its assembly in pictures in the README.
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, Assembly
License: NONE

The code

2.软件设计/Assembly, C · 329 files

How to run it

Written by Robotheca from the project's documents.

Install Android Studio for the phone app development environment
Flash the STM32F103VET6 firmware using Keil5 in the main control board
Flash the STM32F103R8T6 firmware using Keil5 in the servo control board
Set up the cloud server using C# as described in the documentation
Build and install the phone app using Java in Android Studio
Power on the robot and connect via Wi-Fi or Bluetooth to control it

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

Project files

Every file of the project: code, CAD, electronics, guides, at commit b7b2e98.

Community

Questions and improvements go to the creator's repository.

Photo