Hexapod
A 3D Printed Hexapod Robot
Introduction
This agile, 3D-printed hexapod robot, built with ESP32 and Arduino, offers a range of advanced features, including:
- A robust, durable structure
- WiFi-enabled remote control
- Smooth, agile movement
- Over-the-air (OTA) firmware updates for easy maintenance
Watch on Youtube
Electronics
| Name | Thumbnail | Required | Note |
|---|---|---|---|
| ESP32 Dev Module |  |
1 | |
| MG92B or MG90S (metal gear) |  |
18 | Can be mixed |
| PCA9685 servo driver |  |
2 | Need to be configured as different I2C addresss |
| XL4005 DC-DC step down |  |
2 | 6V output |
| Mini 360 DC-DC step down |  |
1 | 5V output |
| Switch |  |
1 | |
| 18650 battery |  |
2 | |
| 18650 battery holder |  |
1 |
Connection Diagram
Assembly
3D-Printed Parts
Body x 1
| Filename | Thumbnail | Required |
|---|---|---|
| body_top |  |
1 |
| body_base |  |
1 |
| body_side |  |
2 |
| body_front_back |  |
2 |
| body_battery |  |
1 |
| body_servo_side1 |  |
6 |
| body_servo_side2 |  |
6 |
| body_servo_top |  |
6 |
Joint x 3 + Mirrored Joint x 3
Check the images of the fully assembled robot for the orientations of the joints and the mirrored joints
| Filename | Thumbnail | Required | Note |
|---|---|---|---|
| joint_bottom |  |
12 | |
| joint_cross |  |
6 | |
| joint_top_mg90s |  |
12 | For MG90S |
| joint_top_mg92b |  |
12 | For MG92B |
Leg x 6
| Filename | Thumbnail | Required |
|---|---|---|
| leg_bottom |  |
6 |
| leg_side |  |
12 |
| leg_top |  |
6 |
Foot x 3 + Mirrored Foot x 3
Check the images of the fully assembled robot for the orientations of the feet and the mirrored feet
| Filename | Thumbnail | Required | Note |
|---|---|---|---|
| foot_bottom |  |
6 | |
| foot_ground |  |
6 | |
| foot_tip |  |
6 | |
| foot_top_mg90s |  |
6 | For MG90S |
| foot_top_mg92b |  |
6 | For MG92B |
Accessory
| Filename | Thumbnail | Note |
|---|---|---|
| accessory_spacer_mg90s |  |
Spacer for MG90S |
| accessory_cable_holder |  |
Others
| Name | Spec | Required |
|---|---|---|
| Screw | M2 6mm | 36 |
| Screw | M2 10mm | 198 |
| Nuts | M2 | 234 |
| Pin (304) | M4 6mm | 18 |
| Bearing | MR74-2RS (4mm ID, 7mm OD, 2.5mm Bore) | 18 |
Software
ESP32-Arduino
Source code is under ./hexapod_arduino.
hexapod_arduino.ino: Main Arduino sketchconfig.h: Configuration header. Change the configurations based on your servo connectionsmotion.h: Automatically generated motion look-up-table using `path_tool'
Android
Working in progress
PC
Working in progress
Calibration
Check the following image for the initial positions of all the leg joints while all the servos are at 90 deg.
Adjust the following two lines in in config.h to correct the installation offsets.
static int left_offset_ticks[3][3] = {{-5, 10, 0}, {-15, 5, -20}, {20, -10, 10}};
static int right_offset_ticks[3][3] = {{20, -10, 0}, {-15, 0, -5}, {-10, 0, -20}};