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

Run this script on raspberry-pi.

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

Animation

Run this script on PC with python packages of matplotlib and pynput installed, then you can switch walking mode of the virtual hexapod by pressing different keys on the your computer keyboard.

python pihexa/animate.py

Watch this video to learn more: Plot hexapod walking gait using python script (用Python写一个步态动画展示程序）.

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