Hexapod Robotics Project

Custom 3D-printed hexapod: mechanical design (coxa/femur/tibia), embedded control, and ROS2 integration. Below you’ll find photos, part breakdowns, and demo videos.

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Overview

The purpose of the project is to build a custom hexapod, and to then implement high level features and experiment with ROS2 and Robotics focused programming.

Project Goals
  • Design modular leg geometry (coxa–femur–tibia) for easy iteration.
  • Implement inverse kinematics (IK) and program smooth control
  • ROS2 node architecture for future autonomy (perception / planning).
  • Experiment with innovative future such as a jumping mechanism or Hexapod/Drone hybrid integration
Architecture

Controller (STM32 / Raspberry Pi) → PWM/servo drivers → 18 DOF (3 per leg). Power distribution and onboard sensing (IMU, optional LiDAR) for balance and navigation.

Key Specs
Degrees of Freedom
18 (3 per leg: coxa, femur, tibia)
Actuators
MG996R (prototype)
Controller
STM32 / Raspberry Pi (ROS2)
Power
2S–3S LiPo with regulated rails
Materials
3D-printed PLA/PTEG
Software
C++/Python, ROS2, IK modules/STM32CubeIDE

Demo Videos

These two videos present the full leg design and complete assembly in Solidworks.

Build Notes

Mechanical Iterations
  • Iterated through 12 versions to address issues continuously and increase the design's modularity
  • Created custom motor case and bearing/motor hold parts using component specifications and improve stability
Control & Software (ongoing)
  • Implementation of inverse kinematics
  • Integration of ROS2 nodes for command, state, and telemetry.
  • Integration of high level features and simulation