18 DOF Hexapod

thingiverse

This is my third (and last, for now) robot. After the SMARS Quad (8 DOF, https://www.thingiverse.com/thing:3118494) and the 12 DOF quad (https://www.thingiverse.com/thing:3119066) I (re)mixed the HEXRO hexapod body by Naus (12 DOF) with the Ez Arduino Spidey quadruped legs by manic-3d-print (12 DOF), to obtain a full 18 DOF hexapod. I had to use 2x Adafruit 16 servo drivers (leaving some room for further expansion of the robot, as the substitution of the front legs with claws, for example). Moreover, I re-designed the bottom tier of the body for connecting the Spidey legs. All the parts of the body are 2% larger with respect to the original design, for accommodating better the micro-servos. The middle tier hosts two 18650 LI-ion batteries and the DC-DC step down, while the upper tier supports the two 16 servo drivers, the Arduino nano and the HC-06 Bluetooth receiver. On the bottom, I placed a Wi-fi camera (Syma 05), connected to the battery charger socket (only one battery connected, max 4.2V). I programmed the firmware (available upon request) for being controlled using the Bluetooth Robo Control App for Android. The firmware performs forward and backward walk, rotation (left and right), hand wave (left and right), stand and squat, skew (left and right), curtsy and 'prepare-to-jump'. More movements and combo can be accessed using the programmable Arduino Bluetooth Controller App for Android. The camera feed can be visualized using Syma FPV+ App for Android.