18-DoF Biomimetic Hexapod Robot

The 18-DoF Biomimetic Hexapod is a ground-up robotics project spanning mechanical design, embedded control, and machine perception. Six legs, each with three STS3215 serial-bus servos, are coordinated by an ESP32 running inverse kinematics and tripod gait generation in real time. The near-term goal is stable walking and IMU-based balance on varied terrain. A Raspberry Pi will eventually handle object detection and basic manipulation.

Built on Waveshare's HexArth

1. May 29, 2026 · 12:50 AM

   I finished the Corxa-Femur bracket while watching NBA Game 6 OKC vs Spurs. The Corxa will be connected to the main body of the Hexapod. Just a note for the bracket- it may be hard to 3D print, as there is a lot of overhang. The Tibia joint was improved to weight less while maintaining similar structure.

   

   

2. May 28, 2026 · 2:48 PM

   I am going to allocate $750 to the project. The main expense is going to be the STS3215 30kg Servos for each of the legs. STS3215 Servos have magnetic rotary encoders for realtime position. The first goal is to create a 3-DoF Leg using 3 servos that serve as the Corxa, Femur and Tibia Joints. Preliminary casing model of the Tibia joint was designed in Fusion360.