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
12 Comments
Tenzin Kuenkhyab · March 25, 2024 at 2:20 pm
Hello, i have read about your hexapod project and i found it quite interesting and want to build one to help myself learn. But while procuring materials i have failed to understand what type of servo motor you used. I have read it was TowerPro MG92B, but is it a continuous servo motor or standard servo motor?
Would be really grateful if you could reply
Zhengyu Peng · April 10, 2024 at 5:43 pm
It is a standard servo motor
ili · September 8, 2024 at 7:16 pm
Hi, I was working on building something like this and I’ve noticed the github repo has been deleted. Would you be able to provide access to the instructions perchance?
Zhengyu Peng · September 11, 2024 at 10:19 pm
Here is the new link: https://github.com/rookidroid/hexapod
Simone · September 20, 2024 at 10:16 am
Hi Zhengyu, this is a really interesting project, and I think I got all I need to complete this hexapod! It’s a sort of puzzle to understand some part of the hardware, but this is also part of the fun! I think i’ll figure out while I build, but if you can guide me where to put the bearings, the pins, and the 6mm 2m screw it will be great! thanks again!
Zhengyu Peng · September 20, 2024 at 9:29 pm
The bearings will be in the holes of “body_base” and “leg_bottom”. The pins go with “joint_bottom” and “foot_bottom”. 6mm M2 screws are used to attach servo horns to “joint_top” and “foot_top”.
Simone · September 23, 2024 at 8:50 am
Thanks a lot Zhenghy! Everything fit like a glove! I’m still waiting for the battery to arrive but in those days I’ll do the electronics!
I tried to figure out the correct calibration for the leg (part 2servos). I think at 0 it should be all retracted and at maximum all extended., is it right? (i’m using a “CCPM servo costintency master” that it’s a very cheap useful tool for servo testing)
for the body_base servos should they stay at center in neutral position? I’ll send you picture of the make on thingiverse!
Zhengyu Peng · September 24, 2024 at 12:34 pm
So for the calibration position, all the servos should be at 90 deg position, and the legs should be horizontal and the feet are perpendicular to the ground. I will make a photo of this later.
James · January 15, 2025 at 2:14 am
Hi Zhengyu. I was building your hexapod project and almost done with a liitle modification. I follow your instruction but i didn’t see any diagram showing the position of each servo connecting to the PCA9685. Can u share ? Also is there a coding for the joystick controller, i can’t find it on your github location you mention. Thank you.
Zhengyu Peng · January 23, 2025 at 9:35 am
The connection is actually in the Arduino code: https://github.com/rookidroid/hexapod/blob/v1/software/hexapod_arduino/config.h
At line 67-72, you can adjust it based on your own connections.
The remote controller repo is here: https://github.com/rookidroid/remote-arcade
James · January 16, 2025 at 4:29 am
Hi . I’m building your hexapod and following your instruction. But do you include the coding for the joystick remote control ? I can’t find it on the github. Can you share it. Also there isn’t any diagram for connecting the servo’s to the PCA9685. Can anyone help ? Thank you.
Zhengyu Peng · January 23, 2025 at 9:31 am
Please check the GitHub repo: https://github.com/rookidroid/hexapod
The remote controller repo is here: https://github.com/rookidroid/remote-arcade
I am also working on a new version of the Hexapod with several improvements. I will update the repo soon.