12 Servo Hexapod

A 2 DOF hexapod controlled with an infared remote

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Recently I joined Hackaday, and when I learned you could upload your own projects, I jumped on the idea to upload my half completed hexapod it should weigh around 3 pounds, with 12 metal geared servos. The original idea was to control it autonomously using an ultrasonic distance sensor, but my understanding of arduino coding is limited :(, so I substituted in a infrared remote and receiver, and am almost done (somewhat) I need some help, however, as I am new to robotics. I got the original idea from the chassis, at least, the electronics aren't detailed. The link is listed later... Also, I found example IR code, dont know for shure if it will work, might need modifications... Not trying to plagerize or anything, so just saying, that's not mine. That's what it's supposed to come out like, as mine isin't

My Goals Are:

-To be able to move Autonomously

-To be co-controlled from the autonomous controls with an infrared remote

-To operate a lcd display and give updates on battery power, errors, and/or data from the autonomous componets

Zip Archive - 11.08 kB - 10/28/2016 at 11:16



The cutting diagram for the legs

Portable Network Graphics (PNG) - 23.18 kB - 10/14/2016 at 12:17

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the cutting diagram for the base

Portable Network Graphics (PNG) - 10.81 kB - 10/14/2016 at 12:16

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View all 3 files

  • 1 × Adafruit Adafruit 16-Channel 12-bit PWM/Servo Driver - I2C interface
  • 1 × Arduino Uno I used a sparkfun redboard, but an uno is probably what you have laying around
  • 1 × IR reciver
  • 1 × IR remote
  • 6 × Star Servo Horns Mine didn't come with any
  • 6 × Round servo horns Didn't come with any of these either
  • 12 × Regular Sized servos with torque of at least 100 oz/in
  • 1 × Expanded PVC 1 piece of 12" × 12" or 1/4" birch, I used PVC
  • 1 × 6 Volt Linear Voltage Regulator I got mine from mouser electronics, they're sold pretty much anywhere though, careful, they're static sensitive
  • 1 × 400 point breadboard i guess you could use any type of breadboard, you really don't need anything bigger than a 400 point though, (see pictures)

View all 13 components

  • waiting....

    ActualDragon01/16/2017 at 03:02 0 comments

    if you noticed in the last log, if you even read it, one of the legs was missing. One of my servos broke, so i ordered a new one. I also took off all the electronics. i ordered a mega clone from newegg, it will simplify programing by 70%. I was just bored, so i wrote this. its of no real importance. but that's okay,nobody reads these anyways.

  • Legs Are On

    ActualDragon01/14/2017 at 19:30 0 comments

    I finished the legs, the two white ones are just because i ran out of black. For a while i was at a standstill because i couldn't find a screw small and long enough to fit through the small hole then reach to the other side of my plastic, then after two months wanted to kick myself- i drilled the horn's holes to take a 4-40. XD

  • Pictures

    ActualDragon01/11/2017 at 21:21 0 comments

    so, this was my first attempt, and I took off all the controls, so it looks like Swiss cheese, but you get the idea. I got bored, so I painted it. Also notice how the screws are bent? yeesh!

    Well, it started to bother me, so I cut a new one. The difference is amazing

  • Legs....

    ActualDragon12/21/2016 at 16:27 0 comments

    so i was just going to use the legs i cut out on my first try, but i figured it was better if i got it 100%, not just 70%. So i cut and drilled out one, and am going to re-cut the legs. Another problem with the legs is that the screws that came with the horns weren't long enough, and those things are REALLY SMALL. Anyway, i drilled out the horns so i could fit bigger screws, and it works! at least for one of the legs that is...

  • Second Deck

    ActualDragon12/16/2016 at 16:31 1 comment

    I finished drilling out my second deck, because there wasn't any room on the first for control electronics, and it looks a little bit special, to say the least. I might make a new one, and i might not. I'm not sure, it would serve the same purpose, either way. I also painted it, because I was bored. I don't have any pictures, because my computer was dead, but when I get home, I will get those uploaded. Maybe I will call it the leaning hexapod of paris. You'll get it when you see the pictures XD

  • Update

    ActualDragon12/06/2016 at 20:40 0 comments

    Hey, to all my 5 followers, if you even read these things, sorry i haven't logged anything in a while, i was working on my project for the science olympiad. Anyway, I was looking at Arduino Mega Clones, and Found one for like 15 dollars, so that's what i'm going for next. Also, I was thinking about my power from the wall wart, and if i'm going to make this thing autonomous, then i can't keep using that. I think i'm going to start using batteries.

    SainSmart MEGA 2560 Board for Arduino UNO Mega Nano DUE Robot R3 Duemilanove

  • Fritzing Diagram

    ActualDragon11/13/2016 at 22:37 0 comments

  • IR Hookup

    ActualDragon10/15/2016 at 23:21 0 comments

    This is the completed hookup between my red-board, servo controller, and the voltage regulating equipment. Still working on Fritzing for my Mac, will try to get that done this week. Haven't added any instructions, when I finish I'll work on that

  • Autonomous Mode?

    ActualDragon10/14/2016 at 12:26 0 comments

    I was going to keep these logs mainly for electronics and code because, again, details the chassis pretty well. I was working on autonomous mode, and bought a SRF04 ultrasonic distance sensor. As this was the older version of the SRF05, (maybe a better choice?) I was leary of it not working the greatest, so I used bumper switches i had raided from an old microwave XD. Again, I got it all hooked up, and would provide the schematics, but don't know of any good sites for that. On a chromebook, maybe I'll try fritzing on my mac... Still trying to figure out the "wonderful world of coding" :)

View all 9 project logs

  • 1

    cut out the chassis and legs. you can find the cutting guides in the files. Also, you can make your own XY servo joints for the legs or buy them I got mine from lynxmotion, but cutting files can be found at

    the ones I bought:

  • 2

    i didn't list all the hardware because there was a lot of it, you need to fasten the xy joints, then put a second deck on it for electronics. i used a sheet of polycarbonate. but it sucks to cut. then, of course, you need the legs onto the bottom of the xy joints.

  • 3

    Now for the electronics- the servos require 6 volts, so I used a linear voltage regulator ( to keep it at 6 volts. careful, they are static sensitive! I blew two before i got it. use "dummy" parts until the circuit is properly grounded. The problem is that if it IS damaged, then there is no visible signs. It won't blow up or anything. Before you plug in the servos, ALWAYS CHECK THE OUTPUT VOLTAGE with a multimeter. The arduino needs a separate supply (same supply for me, i'm using a wall wart) so i just split it at the beginning.

    Image result for 6v linear voltage regulator

    Image result for linear voltage regulator circuit basic

View all 3 instructions

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Radomir Dopieralski wrote 10/17/2016 at 09:53 point

Have you considered going for 3dof legs, or 2dof legs in mammalian configuration? That way you could make the robot actually walk instead of crawling, without having to rely on the friction of the floor. It also gives you a little bit more interesting options for how to move the legs, in addition to the primitive hard-coded sequence of movements.

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