Spider Pig - Autonomous Hexapod Robot

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Introduction: Spider Pig - Autonomous Hexapod Robot

Bachelor thesis project by a group of seven students (in applied physics and electrical engineering) at Linköping University, Sweden.

Main hardware:

  • 1x PhantomX AX Metal Hexapod Mark II Kit (including 18x Dynamixel AX-12 servos, excluding the ArbotiX Robocontroller)
  • 3x ATmega1284p microcontrollers
  • 7x IR distance sensors
  • 1x ultrasonic distance sensor
  • 1x MPU-6050 IMU
  • 1x LCD display
  • 1x FireFly Bluetooth modem
  • 1x Raspberry Pi 3 Model B
  • 1x Raspberry Pi Camera Board 5 MP


The robot can navigate a simple maze (containing both low and high obstacles) autonomously and be controlled manually with an Xbox controller connected to a PC. It communicates with the PC over Bluetooth.

The system is divided into three subsystems (control, sensors and communication), with one microcontroller each. The subsystems communicate via an SPI bus.

The Raspberry Pi is configured as a WiFi hotspot and streams video to a Linux computer.

The walking algorithm is based on inverse kinematics. A PD controller is used to keep it centered in corridors.

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    it already has the codes for each legs?

    9 Comments

    Amazing work. I am trying to build the same with Mark III Kit. I would love to see more details about this project and some code.

    Amazing work. I am trying to build the same with Mark III Kit. I would love to see more details about this project and some code.

    I would love to see the code, Front- and backend

    The above hexapod robot looks a bit like a naked version of this:

    https://www.youtube.com/watch?v=5OQrAyfnBBo

    I like his very much and would love to see more about it.

    The funny thing is that spiders have 8 legs. But looks like a really cool project.

    Pretty good but when I saw that I think why they didn't post more because we want more about this projet

    Looks just like the spider in the Wild West movie. Awesome.

    This is awesome. Put some kind of cover on this and you could scare the daylights out of people.