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 sketch
• config.h: Configuration header. Change the configurations based on your servo connections
• motion.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}};