A three-servo hexapod walking robot powered by Raspberry Pi

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KEMBot is a Raspberry-Pi powered hexapod walker with three servo motors for walking. It can be controlled using any phone with a browser and WiFi. It can also run autonomously, where a third servo motor is added for rotating an ultrasonic sensor that detects obstacles.

KEMBot is controlled by a Raspberry Pi via Python using the Pigpio library. Basically, the robot movements follow the tripod gait, a form of walking followed by most insects. It's a three-servo design (excluding the head) which means it is relatively cheaper than higher DOF hexapod robots.

Control is done via any phone with a web browser connected to the same network as the Raspberry Pi. A web page, hosted by an Apache server on the Pi, contains the movement buttons and an auto/manual interface. The movement buttons are enabled in manual mode and are disabled in auto mode. Moreover, auto mode makes KEMBot walk forward until it "sees" a obstacle (using ultrasonic sensor) and moves backward a couple of steps then moves to the right.


Serves the request from index.html via execution of

php - 650.00 bytes - 07/19/2017 at 07:29



Web page for control. Resources for the buttons are not included.

HyperText Markup Language (HTML) - 3.15 kB - 07/19/2017 at 07:29


Python code. Must have pigpio installed and pigpiod initialized before executing this.

plain - 3.99 kB - 07/19/2017 at 07:27


  • 1 × Raspberry Pi 2 Model B
  • 3 × Tower Pro MG995
  • 1 × Tower Pro SG90
  • 8 × Rechargeable Batteries
  • 1 × 9" x 3" Acrylic Board

View all 8 components

  • 1

    The full assembly instructions can be found on DIY Hacking.

View all instructions

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