Hexapod MK1

active
roboticsembedded3d-printing

A six-legged walking robot built from scratch — 3D-printed frame, 18 servos (3 per leg), and an STM32F4 controller.

Goals

  • Stable tripod gait on flat surfaces
  • Inverse kinematics for smooth leg positioning
  • Wireless control via ESP32 bridge
  • Camera module for basic obstacle detection

Current status

Frame printed and assembled. Servo wiring complete. Working on the IK solver in C++ on STM32.

Hardware

Part Spec
Controller STM32F407VG
Servos MG996R x18
Wireless ESP32-C3
Power 2S LiPo 5200mAh
Frame PLA, custom design