hexapod-raspberryPi

hexapod raspberry pi

This is a Hexapod raspberry Pi B4 project, originated by SmallpTsai. SmallpTsai drove it via 7697. In this project, we will port the driver to Raspberry Pi 4B and re-design hardware components.

Brief introduction

• Remote control is done via WIFI Socket or USB joystick
• It has 6 legs, each leg has 3 joints. So there are total of 18 Servo motors (TowerPro MG92B)
• Raspberry Pi 4B only provides 1 hardwire PWM control, so PCA9685 control board x 2 with the integrated step-down regulator are used to control these servo motors through IIC.
• Power comes from a 3S Lipo battery (11.1v). Also, 3 mini560 DC-DC step-down voltage regulators (5V 5A-max) are used, one to power RaspbPi, the other 2 are to power PCA9685 control boards.
• The body is 3D printed with Somos® Imagine 8000 through a third-party 3D printing service.
• Angle sensor WIT JY61P connects to RaspbPi through IIC.
• Followed by SmallpTsai, everything (3D STL, source code) is included in the project under GPL license.

Skill requirement

If you want to make one hexapod by yourself. You should at least know how to:

• Mechanism part
  • Use 3D printer to print a model.
  • Able to adjust the 3D model to fit your custom need.
• Electronics
  • Soldering power cord
  • How to use/charge/store LIPO batteries
• Software
  • Use RaspbPi OS (Buster)
  • Use Python 3

Table of Content

1. Mechanism - How to build the body
2. Software - The software running on RaspbPi

Function showcases

IMG_5680.MOV.mp4

ACE092F6-781D-482C-A247-FD7A35299F4E-38263-000020560CBB3DD4.mp4

leg testing

IMG_5618.MOV.mp4

Angle sensor

8da867fd5c2ac93d0d8ebecf30134a.mp4

complete spider

IMG_5750.MOV.mp4

walking mode