If you’d like to build a walking robot, but don’t want to deal with balancing algorithms, hexapods are a great choice. Because of their six legs, these ant-like creatures can move in several patterns that give them at least three feet for support, while maneuvering their other legs into position for robot movement.
This type of robot can be constructed with as little as three servos, but Dejan decided to employ a total of 22 servos to move his hexapod around. Three metal geared servos are used per leg, as well as a pair for the head, and one each for the mandibles and tail. Cleverly, the pair of mandibles are linked together with a mechanical gear setup so that a single micro servo can be hidden in the single-piece head.
An Arduino Mega is the brains of the operation — it’s the only board in the Arduino family that can handle the number of servos needed — and a custom PCB was printed to accommodate wire attachment. The hexapod is controlled via a custom Android app, and it can even attack autonomously if something gets too close to it’s ultrasonic sensor “eyes.”
Be sure to check out the video below to see how it was assembled; print, app, and Arduino files are available here if you’d like to build you own!