Picture of Hexapod Robot based on FPGA
    This is a hexapod robot which consists of twelve DC servo motor controlled by a FPGA chip.The framework  is programmable and extendible.we can design different programs to make the robot react in different ways.      
    I was inspired by the Kondo KMR-M6 Robot .(Kondo is an Japanese company makes robot models) I like this kind of modern toys but they are always too expensive to afford . Then just make one by hand  ,I thought. 
    The general idea is to carve every part of a single leg with plywood ,which takes a long time, and then try to copy it with PU glues since the robot gets six legs.
    Now let's begin.

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Step 1: What you might need

Picture of What you might need
ball bearing.jpg

saw , electric grinder , electric drill, pencil, screwdriver,caliper


plywood , PU resin , silicon ,
screws,nuts,ball bearing


servo motors, CAD and EDA software , FPGA Minimum system board(I choosed Altera CycloneII)

Step 2: 3D model and 2D blueprint

Picture of 3D model and 2D blueprint
    Duo to the requirement of accuracy for the models , we need to create a 3D model for the hexapod robot using CAD tools such as AUTODESK AUTOCAD software, so that you can adjust the robot's size and shape quite easily.
    What? You never touched autocad before? OK,neither did I.But I learned it and draw the model within one week . One good way to use this kind of software is to learn just the parts which you exactly need.
    Every single leg has two rotational degrees of freedom, one for Horizontal rotation the other for vertical movement. The vertical motion mechanism is a parallelogram structure which is can easily rotate and keep the claw upright. We can simulate the movement through some simulation tools , for example Autodesk ForceEffect on mobile device.

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fshah64 days ago
Can I have the cad design? email me if possible at
NickyD11 month ago

Can you pls send me the cad files

can i get your hexapod design ? i want to study about hexapod :)
ctakai1 year ago
nice work keep it up.
britantyo1 year ago
could you tell me the specification of the DC servo motor like brand, torque and...things
XDL1 year ago
Wow, amazing. You must be the winner!
yling1 year ago
Hey dude! Very nice work! Can't wait to see the prototype in person when got back to Shanghai!
can I copy your cad design?
bbs083108312 years ago
huhu awesome
mithun tr2 years ago
WOW Love it! Ive always wanted to make one but have always been put off by the programing involved afterwards any sugestions/ ideas that might make this easier :) again love the progect
fenix8k2 years ago
hi again :P i just love the desing of your legs :P what program do u use for the phisic desing?
rbigornia2 years ago
hello! i love what you did here and i want to do the same thing you did to make the parts of your hexapod. how exactly did you make the molds? im new to all of this and i did not recognize any of the materials you used :D
Ghild.Zero2 years ago
Where is the video dude ???
jn1262 years ago
Hi Adam,
your project is amazing.
I am trying to understand the mechanical part of
the design.
It seams that you use 2 different materials for molds:
One is translucent silicone RTV and the second is
PU Silen 8014, which is beige or brownish white.

1. Is Silen rubbery and flexible like silicone or rigid
like PVC or polyethylene ?
2. What material you use for finished parts, it looks
chalk white, different color than Silen ?
If the color difference is due to lighting, wouldn't
the flexibility required for mold be too flimsy for
finished part ?
3. In the small U-shape piece with 8 bearings, how do you
keep the bearings from falling out, do you glue the
outer races of bearings in after assembly or do you use long screw
going through both linkages and both bearings with a nut ?
4. On bigger U-shaped pieces, one end is attached to the servo arm,
how did you design the second pivot ?
Did you glue bearing to the bottom of the servo with clearance
for M3 nut ?
5. Can you post your .dwg or .dxf drawings even if they are different
then the finished design ?
There is a lot to learn from your project, thank you in advance

John Nickel
costaud (author)  jn1262 years ago
Thank you for leaving a so detailed message.
Firstly, the both materials I used for molds are both silicone, almost the same but in different color,which are rubbery and flexible. I failed so many times that I used out the whole bottle of silicone. So I bought another bottle. That's why you see two colors of molds. The PU 8014 is used for pouring or placing the molds to create every part.
1.Silen seems the manufacturer or brand of the PU 8014. PU 8014 A and B are transparency liquid , after mixed together turning into white rigid solid like polyethylene.
2.Finished parts are made out of the PU 8014 , which is poured into the molds. It seems you have mistaken the two materials.
3.I used half thread screws with diameter of 3mm and length of 14mm. Go through the joint to a nut.
4.I drill a hole on the other side and I changed the bottom shell of the servo, which has a cylinder axle.I is used on robots' rotation joints.The bigger parts are solid enough so that I just fixed one side of the servo arm.
5.I try to post it soon. BYW, how to upload an attachment - -|||

Thank you.
seraine2 years ago
Very, very impressive. You deserve my vote.
costaud (author)  seraine2 years ago
My honor : )
kwixson2 years ago
I don't see the CAD files. Any way you would post those so that those of us who have 3D printers can print the parts? STL files would be especially helpful.
shjddyytc2 years ago
diaobaole ..... 华丽转身yingjian dashen
Edgar2 years ago
Dang, you've made a neat Project!
Nice! :)
Do I spot a FAR Tools drill set, there?
The link to this is posted in my Blog, I've voted, and a zillion Gizmo Makers will use you PU Glue method, starting with me!
costaud (author)  Edgar2 years ago
Thank you ~ I see it .
Edgar costaud2 years ago
rug2 years ago
This is great, you get my vote
costaud (author)  rug2 years ago
you are a great guy : )
rug costaud2 years ago
Thanks so are you :)
darkbain2 years ago
Beautiful work, hope to see a video soon. I also agree, there's no need to always go to 3-D printing now when these great tools are readily available.
costaud (author)  darkbain2 years ago
Wow,if you had suffered the wood part, you would pray for a 3d printer. Joking.
ASAP, thank you. : )
LOL i hear that, good to know that plan B is always near by.
FoamboardRC2 years ago
You hand-cut all these pieces out of wood????? You've given me a new hope!
costaud (author)  FoamboardRC2 years ago
Yes , out of pieces of plywood , 3 mm thick each piece. Saw and shape the wood one by one , glue them together and then do some polishing and burnishing.
Have you done this with other 3D files?
Jamby2 years ago
Really a fantastic project!
Just one question, what model of servo motor have you used? (I haven't seen it mentioned) and how do they cost? (I think that's the most expensive part of the project)
costaud (author)  Jamby2 years ago
Good question. I thought that there might be different types of this kind of servo motor in different country.This one I used is typed TowerPro MG995:40X20X36.5mm,0.13s/60degrees(6.0V),13KG/cm , I bought it for 27 RMB each,equals to 4.34 USD.I‘m not sure whether it is fake,but it works.
The electric drill tools and the servos cost almost the same.What cost most is time!!!
I want to mention that it should be a bottom-up design. What kind and size of servos are available decides the size of robot. Also the length and diameter of screws which is generally used and easily buying decide the diameter of drills and thickness of parts.That's the way time and cost limit practice work.
TheStudio72 years ago
LIKE. Well done.
costaud (author)  TheStudio72 years ago
thanks : )
StuartMit2 years ago
Would you have a copy of the files of your parts so I could print a set on my reprap??

costaud (author)  StuartMit2 years ago
There is difference between the 3d model and the real one , I will try to draw it back .Stay tune.
Ralphxyz2 years ago
Great instructable.

For "concreted" you might want to use "solid" but we all understood what you meant.

Thank you,

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