Hexapod

A 3D Printed Hexapod Robot

This is the upgraded Hexapod v2 with stronger 21G servos, for the instructions of the original Hexapod with MG92B or MG90S servos, please go to v1 branch

Introduction

This agile, 3D-printed hexapod robot is designed to work with either a Raspberry Pi PICO or an ESP32, providing flexibility and enhanced performance. Equipped with stronger and faster 21G servos, it 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

Electronics

Name	Thumbnail	Required #	Note
Controller Board	or	1	Purchase ESP32 version or RPi Pico version
21G Servo		18	DS Power or Miuzei 21G servo
Rocker Switch		1
18650 battery		2
18650 battery holder		1

Connection Diagram

ESP32

Respberry Pi Pico W/2W

Assembly

3D-Printed Parts

Body x 1

Filename	Thumbnail	Required #
body_base		1
body_side		2
body_front_back		2
body_top		1
body_top_cover		1
body_battery		1
body_servo_side1		6
body_servo_side2		6
body_servo_top		6

Use the orientations of the thumbnials to print, no support is needed.

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		12

Use the orientations of the thumbnials to print, no support is needed.

Leg x 6

Filename	Thumbnail	Required #
leg_bottom		6
leg_side		12
leg_top		6

Use the orientations of the thumbnials to print, no support is needed.

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_top		6
foot_ground		6
foot_tip		6

Use the orientations of the thumbnials to print, no support is needed.

Accessory

Filename	Thumbnail	Note
accessory_cable_holder

Use the orientations of the thumbnials to print, no support is needed.

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}};