18 DOF Hexapod

thingiverse

This is my third robot. After the SMARS Quad, an 8 DOF robot (https://www.thingiverse.com/thing:3118494), and the 12 DOF quad (https://www.thingiverse.com/thing:3119066), I remixed the HEXRO hexapod body by Naus with the Ez Arduino Spidey quadruped legs by manic-3d-print, to obtain a full 18 DOF hexapod. I had to use two Adafruit 16 servo drivers (leaving some room for further expansion of the robot). I also re-designed the bottom tier of the body for connecting the Spidey legs. All the parts of the body are 2% larger than the original design, accommodating better the micro-servos. The middle tier hosts two LI-ion batteries and a DC-DC step down converter. The upper tier supports two 16 servo drivers, an Arduino nano, and a HC-06 Bluetooth receiver. On the bottom, I placed a Wi-fi camera (Syma 05), connected to a battery charger socket. Only one battery is connected at any given time, with a maximum voltage of 4.2V. I programmed the firmware 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 combos can be accessed using the programmable Arduino Bluetooth Controller App for Android. The camera feed can be visualized using Syma FPV+ App for Android.