How to build a Lego Mindstorms NXT hexapod robot?

Picture of How to build a Lego Mindstorms NXT hexapod robot?
This time (in my very first instructable ever) I'm going to show you how to build a hexapod robot using Lego Mindstorms NXT.

Enjoy and leave a COMMENT!
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Step 1: What do you need

Picture of What do you need
You need:
- Lego Mindstorms NXT kit
- some extra Lego gears
- some time and will
- a computer

Step 2: Building the legs

Picture of Building the legs
In our case, leg mechanism is very simple. There are two motors powering the legs - one for each side of the robot. The motor drives the middle leg, which is than connected with the other two. When one leg (in the middle) is on the ground, the other two are up in the air.

To steer, we stop the motor from the one side, so that only one side of the robot is walking, causing the robot to turn. The robot walks in a tripod gait. Each gear lifts the legs up and down and at the same time forwards and backwards, causing the robot to walk.

There are no differences between the two leg mechanisms (apart that one is mirrored on the other).

Step 3: Creating the body

We start by connecting the two leg mechanisms together as firmly as possible. You want it to be as robust as possible. Than you can attach the NXT brick and all the additional sensor and motors. I fitted another motor on the front (with a touch and ultra sonic sensor) to lift small objects and the sound and light sensors on the rear of the robot.

When everything is completed, you can add some decorations... bodywork?

Step 4: Programming

Picture of Programming
I used a default NXT programming language NXT-G. It's pretty simple and you don't need to write all those hundreds of code lines. Off course there are also some other programming languages you can use...
(Note: the picture is NOT from the program of my robot!)

Step 5: Other good stuff...

Picture of Other good stuff...
You could say, that this robot is recyclable, 'cuz you can take it apart and build a new one when you get bored with the current one. And they're lots of fun...
admin7 years ago
This is a great Instructable, but you need to add a main image of the final project to the intro step. Please do that and leave me a message when you have so that we can publish your work. Thanks!
roksraka (author)  admin7 years ago
Ardumedes1 year ago

I love this design, and I look forward to showing it to the FLL students I mentor.

Ardumedes1 year ago

This is a cool project that I look forward to showing to the FLL students I mentor.

www1391 year ago
ski4jesus5 years ago
those are so fun, but i made a octopod and it was much easier, because it has 4 feet on the ground at all times.
wasimnisar5 years ago
please send me complete code for this robot

pagosapig5 years ago
Good design-I like how you used the gears
Personally I like this leg control design better---
suraj16 years ago
hi I just wanted to know what is its cost and do we get it in India because i live in India
you can get it ordered on lego.com
toxicwolf5 years ago
dude not trying to be a butt whole but doesn't octo mean 8 and pod mean foot my point is I only see six legs so isn't it a hexipod
Taotaoba6 years ago
Thats so fun!
Not enough instructions, but much better than many others.