PiHexa V1

Hexapod project using Raspberry Pi Zero 2 W and Python.

Setup raspberry pi zero 2 W

Suppose the raspberry pi OS is installed:

• WIFI connection configuration through /etc/wpa_supplicant.conf file.
• Make raspberry pi (Bluetooth) to be discoverable and paired.
• Enable I2C Interface for PCA9685 communication.
• Open SSH for debugging.

Running the main process

sudo cd ~/PiHexa18/pihexa && python3 running.py

Brief introduction

• This project is the python version of the hexapod-v2-7697 project written in C++. I modified the size and structure, and redesigned the PCB.
• Remote control is done via BLE of Raspberry Zero 2 W
• It has 6 legs and each has 3 joint. So there are total 18 Servo motors (Only support GuoHua A0090, JX PDI1181MG now and TowerPro MG92B in the future)
• NXP PCA9685 x 2 are used to control these servo motors
• Power comes from a 2S Lipo battery (7.4v). Also 7 x mini360 DC-DC step down voltage regulator are used. One to provide 5V to Raspberry Pi, The other six to provide 5V to each legs (1 mini360 serve 3 servo)
• The body is 3D printed PLA. I use Anycubic i3 Mega S.
• Everything (3D STL, PCB schematic, Python source code) are included in the project under GPL license, Happy making!

Demonstration (Video)

Bilibili: 开源树莓派Python编程六足机器人功能介绍和运动测试
YouTube: Open Source Hexapod using Raspberry Pi Zero 2 W and Python