HexPi – Hexapod Pi Robot

I’ve been wanting to build a hexapod robot for a long time, but it seemed like it would not pass the wifey cost/benefit analysis – difficult to justify an almost $1000 toy.

(I will blog my build adventure lower on this page. Older posts will be on the following pages (note the page selector at the bottom of the page))

Side view of assembled HexPi chassis:

(Current State of HexPi – click on the image to see a larger photo)

After a lot of searches on Ebay, I settled on a Chinese aluminum chassis, and 18 TowerPro MG995 servos – the total came in at a point that did not need to be justified to my wife!

I decided to document my journey in building my first hexapod.

HexPi currently consists of:

  • aluminum hexapod chassis
  • 18 TowerPro MG995 servos

Hexapod Robot Chassis - parts

(Hexapod chassis kit as received – click on the image to see a larger photo)

Planned for HexPi

  • RoboPi – for servo control
  • Raspberry Pi Model B – for inverse kinematics, visual recognition
  • Raspberry Pi Camera module – video streaming, visual recognition
  • WiFi – remote control & telemetry
  • many sensors of many kinds :)

If you have any questions about HexPi, please visit the HexPi discussion forum!

June 18, 2014

Servo cable extensions & improved cable runs

Last week when I wiggled HexPi’s front legs I had some “issues” due to the short servo cables.

I needed to extend the servo cables, so I dug around and found my 50cm servo extension cables. While I was at it, I needed to clean up the servo cabling, as I did not want the legs to snag on the cables.

HexPi @Mikronauts http://Mikronauts.com

(Front of the first leg on the left – I’ll get proper plastic cable ties later – click on the photo for a larger version)

HexPi @Mikronauts http://Mikronauts.com

(Back of the middle leg on the left – I’ll get proper plastic cable ties later – click on the photo for a larger version)

I had to leave a bit of a loop for the ankle joint as it needs it when pointing straight up.

HexPi @Mikronauts http://Mikronauts.com

(Larger view, showing more of the cable – click on the photo for a larger version)

I also found some shoes for HexPi’s legs – I did not want HexPi to scratch up my desks or the floor.

HexPi @Mikronauts http://Mikronauts.com

(HexPi has three pairs of new shoes – click on the photo for a larger version)

Here is HexPi, with his “Hair Extensions” :-)

HexPi @Mikronauts http://Mikronauts.com

(click on the photo for a larger version)

Coming next:

Wiggling all HexPi’s legs!

Related Links:

June 11, 2014

I wiggled his front two legs with “The Better Mousetrap Servo Tester”!!!

HexPi Calisthenics - RoboPi and Raspberry Pi based robot stretches his legs

(click on the photo above for larger image)

If you are interested, here is a YouTube video (HD) showing the test:

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