ZeroBug
A 3D-printed micro-servo hexapod robot controlled by a Raspberry Pi Zero, with an STM32F103 handling leg locomotion and inverse kinematics for its 18 servos.
- Other
- Open source
- 3D printable
Suggested by Robotheca, created by @CoretechR (opens in a new tab), from github.com/CoretechR/ZeroBug (opens in a new tab). Pinned to commit e22368b (opens in a new tab).
- Hardware license
- GPL-3.0-only (opens in a new tab)
- Software license
- GPL-3.0-only (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 (1 script)
Photo and 3D model
3D preview converted from github.com/CoretechR/ZeroBug at e22368b, under GPL-3.0-only. View the original files from GitHub (5.3 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Walks as an 18-servo hexapod using micro servos, with leg locomotion and inverse kinematics handled on the STM32.
- Controllable by mouse, keyboard, multitouch, or a Bluetooth gamepad through the Raspberry Pi Zero front end.
- Supports optional video streaming from a camera connected to the Pi's camera connector.
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The guide appears here as you scroll.
Guide by @CoretechR (README.md), under GPL-3.0-only.
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Raspberry Pi Zero, handling input methods and the front-end interface.
- STM32F103 microcontroller, handling leg locomotion and servo control.
- 18 micro servos driving the legs.
- Camera module for optional video streaming.
- Bluetooth gamepad as an optional controller.
- Eagle schematic and board files for a Hexapod REV1 PCB.
Connections
- The Eagle schematic and board files describe the electronic connections between the Pi, STM32 and servos.