A hexabot robot is a mechanical vehicle that walks on six
legs. Since a robot can be statically stable on three or more legs, a hexabot robot has a great deal of flexibility in how it can move. If legs become disabled, the robot may still be able to walk. Furthermore, not all of the robot's legs are needed for stability; other legs are free to reach new foot placements or manipulate a payload.

Many hexabot robots are biologically inspired by Hexabot locomotion. Hexabots may be used to test biological theories about insect locomotion, motor control, and neurobiology.

Using 18 servos or 18DOF with 3 join per leg is flexible enough for a hexabot robot than 12DOF hexabot robot.

some of Hexabot hobot have a complex mechanism and schematic. in this design i try to make a simple design hexabot using common component that we can found in the market

Step 1: Time to Shoping

This all the component u need to buy:

Step 2: Print and Assemble the Body Part

all the spider body part and claw can be download from

https://www.myminifactory.com/object/3d-print-7650...

https://www.thingiverse.com/thing:3130196

mandatory list of part u have to print :

6x shield.stl
3x coxa_A.stl
3x coxa_B.stl
3x tibia_A.stl
3x tibia_B.stl
3x femur_A.stl
3x femur_B.stl
1x Hex_body_short.stl
1x Hex_cover_short.stl
1x Ring.stl

The rest is optional...

Step 3: Connecting the Dot

This is all electronic schematic, basically all servos controlled by 32CH servo controller because it's already have micro controller in it. Just like arduino it's independence and can controlled using serial command from PS2 controller, PC or other device.

Step 4: 32CH Servo Controller

Features:

Operating voltage: 5v
Servo motor input voltage: 4.2V~7.2V
CPU: 32 bit
Baud Rate (USB):115200
Baud Rate (bluetooth/UART): 4800 、9600、19200、38400、57600、 115200
flash storage capacity: 16M
Red Indicator: CPU power indicator
Gree Indicator: servo motor indicator
Yellow Indicator: PS2 Wireless Controller
Mode Protocol: UART
Computer protocol: Support Single
Operating protocol: Support
Supper servo motor type: 9G~55G (3.3V~7.2V)
Online Operations Support: C51/ARM/DSP/Buletooth/Computer
Mode type: USB/UART/Offline Independent/PS2 wireless control

Cabling mapping :

5v power out (+) from UBEC
Ground from UBEC and Mini Stepdown
5v power out (+) from mini step down
to Wemos D1 mini G pin
to Wemos D1 mini 5v pin
to Wemos D1 mini RX pin
to Wemos D1 mini TX pin
(match the pin color with the servo cable color) to right front leg (pin 1 to coxa, pin 2 to femur, pin 3 tibia servo)
(match the pin color with the servo cable color) to left front leg (pin 5 to coxa, pin 6 to femur, pin 7 tibia servo)
(match the pin color with the servo cable color) pin 9 to claw servos (assemble the claw first)
(match the pin color with the servo cable color) to left middle leg (pin 13 to coxa, pin 14 to femur, pin 15 tibia servo)
(match the pin color with the servo cable color) to right middle leg (pin 17 to coxa, pin 18 to femur, pin 19 tibia servo)
(match the pin color with the servo cable color) to left back leg (pin 25 to coxa, pin 26 to femur, pin 27 tibia servo)
(match the pin color with the servo cable color) to right back leg (pin 29 to coxa, pin 30 to femur, pin 31 tibia servo)

Step 5: NodeMCU AP

The WeMos D1 mini is minimal ESP8266 wifi board

Using wemos D1 mini as WIFI AP we can send serial command to the 32 CH servo controller and independence become Web server AP for controlling the robot.

all we need just flash the nodeMCU board with the code attach and we can connect the smartphone to the nodeMCU AP and using web browser open http://192.168.4.1 and we can see all the command.

ModeMCU Pin mapping:

to the 32 CH servo controller RX pin
to the 32 CH servo controller TX pin
from 32 CH servo controller G pin
from 32 CH servo controller 5v pin

PS: I have fix (31/4/2019 update) some connection issue that appears before... such as hard to connect or page not render completely...and if u have a alot of error movement, please check your battery current... usually it because it running with not enough battery power...

So Have some fun with it...!! :)

Hexapod310319_fix_connection_issue.ino
Download

Step 6: Initial Pose

IMPORTANT...!!

we need to set the initial pose for the spider.

turn on the robot (at the first time maybe all the leg will be miss pose so for this step please release all the servo horn first)
reattach the servo horn and adjust the coca, tibia and femur pose just like the picture abbove
turn off and turn on again to make sure that all leg is in the right position

Step 7: Adding More Movement

After all finish, we can add more motion to the arduino code. I using RTrobot servo controller to make some movement and after we have the serial command for the servo, we can put it in the code with some code adjustment.

download here

or here @4shared for windows & linux only

PS Very very IMPORTANT :

all RX and TX from and to Wemos and Servo Drivers have to firmly connected, because looping routine always check "OK respond" from the 32 servo drivers. If servo driver not found and there is no "OK" respond, than program will be loop in "void the wait_serial_return_ok()"
This mistake will cause : - Cannot connect to the AP - Blank web page - Page loading progress not finish

Step 8: Sugestion...

for power supply we also can use lipo 3s battery, i think 900mah is enough but u need to have lipo battery for charge it.
if u want to put obstacle sensor and servos, u can connect the sensor to the one of the wemos d1 mini input pin, and the power from 32 CH servo controller G and 5V

Step 9: For Whom Have a Problem With Opening Web Page or Connecting to the AP

I HAVE FIX THIS ISSUE PLEASE DOWNLOAD IT AGAIN FROM STEP 5 ABOVE (fix @ 31-4-2019)

some of Wemos D1 mini clone have a bad or defect ESP, and it causing:

- Hard to connect to the AP

- Fail to open page

- Loading not finish

For more detail check my video above...

Step 10: Cable Organize...

Basically just do the u can do... But I can share I I have do... Here's the picture...

4 People Made This Project!

pathieu.anglade made it!
pachanoid made it!
LuisI33 made it!
MusaW made it!

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70 Discussions

pathieu.anglade

2 months ago

I created a remix version with a camera and all the code is in python on a raspberry pi zero w

PS : for all those who have a freeze problem, this comes from the driver card, you have taken the Chinese version USC 7.7 which does not work with speeds higher than 9600 bauds (this is the one I use in the video)

I can share my python code as well as the 3D plans for the camera if it interests people

I also created a software in C # allowing to control the servos with the Chinese driver card usc 7.70, I can also send you the code sources

there are still slight bugs to fix but please be indulgent I am a student I am not the level of mrusaW

TomiH8

1 year ago

Hello. I have a problem with connecting to the AP. I'm going to upload the program pretty well to wemos. But if I connect with my smartphone and press a command, the AP stopped ... why? Servo board is well, servos too,... but communication between board=wemos=smartphone... no ... :( i tried cables and others... and nothing :/

FelipeM188

Question 5 months ago

Hello my friend, Sorry again for the inconvenience, i was wondering If It ia normal to click on any Cell Key the BLUE wemos light goes out? Thankful

OspreyGozo

Question 3 months ago

Thanks for sharing the project. Is it possible to use only a 5V power source and bypass the UBEC and the stepdown converter?

trolldej

Question 3 months ago on Step 9

donde encuentro el ap

blueheart2121

Question 5 months ago

Hello
Thank you very much for sharing wonderfull project. I made it. I have some problems:
I don't use wemos. I want to use ps2 remote control
So how can it walk I cud not understand can you please help me?

n.saldunas

5 months ago

Hi, what board you chose from the list in arduino ide, then importing the code to wemos? I'm getting web page with control buttons, but robot not moving then pushing them. What arduino ide libraries I should install? Do I need to do something with 32 ch servo controller board? Is this code the same as your v1 hexapod robot code? V1 hexapod robot code is not working at all for me, not opening web buttons. But still with this code I see buttons can push them but nothing happening.

askaakash07

6 months ago

very much informative,i appreciate your work!thanks for providing this awesome project!
can I ask a question?can I use ESP8266 node mcu and pca9685 instead this 32CH servo controller.and can I upload this same code which you provided in this post??
WAITING FOR YOUR REPLY,THANKS IN ADVANCE

PedroSR711

Question 7 months ago

Hii!
Realy nice project. I am trying to build my hexapod with my own code.
I am not running an ESP, I run an arduino mega and a bluetooth module and x2 16 ch servo controller. I have some questions about power supply. The servo controllers can go up to 6V, and with 18 servos (I am not using claw), do I need 6 Amps, right? Will a lipo 6V battery do the job if i connect it in parallel to the servo controllers and a standart 9V battery to my arduino?

Hamish borwne

7 months ago

hey im having trouble finding the code for the servo controller do you think you could post it again? all i can get to download is the bug fix which dose not seem to be all the code??

inovacionerr

8 months ago

And tell me please. I really want to make such a robot but that it would be controlled from the remote from the PS. Is it hard to implement ? I found this controller https://ru.aliexpress.com/item/32948999773.html?spm=a2g0o.cart.0.0.100f3c00D1yrtI&mp=1

Introduction: Simple NodeMCU 18 DOF Hexapod