18-DOF HexArth Bionic Hexapod Robot, Open Source For ESP32, Supports Vector Motion Control, Attitude Angle Rotation Control, And Self-Balancing Control

$439.99

Power plug

EU UK US

Details

18-DOF HexArth bionic hexapod robot, open source for ESP32, supports Vector Motion Control, Attitude Angle Rotation Control, and Self-Balancing Control

HexArth
High-DOF bionic hexapod robot

Product features

The HexArth is a high-DOF bionic hexapod robot which features 30kg.cm high-torque servos, with reliable structure and a cross-platform Web APP. It uses the ESP32 as sub controller for connecting rod inverse solving and gait generation, sharing calculation tasks for the host controller, an additional Raspberry Pi 4B / 5 can be attached as the host controller for high-level decision operating.

Equipped with 30kg.cm serial bus servos capable of real-time feedback on position, speed, and input voltage
Uses sub controller for connecting rod inverse solving and gait generation, sharing calculation tasks for the host controller and improving the gait solving efficiency
Aluminum alloy + carbon fiber materials, ensuring strength while keeping it light weight
Additional Raspberry Pi can be attached as the host controller to enable OpenCV high-level functions

Specifications

General
Product name	HexArth
Stand up (Length × Width × Height)	344.30 × 428.59 × 154.88 (mm)
Self-Weight	2.1kg
DOF	18 overall, 3 per single leg
Motion performance
Available gait	tripod gait, self-balancing
Dynamic Payload	1kg
Servo info
Dimensions	45.20 × 24.70 × 37.30 (mm)
Weight	69g
Operating voltage	12V
Idle speed	0.222sec / 60° (45RPM)
Stalling torque	30kg.cm
Rated load	10kg.cm
Rated current	900mA
Control method	digital signal
Control system type	half-duplex asynchronous serial communication
Power supply
Batt set Support	3s2p 18650 rechargeable Lithium battery set (NOT Included) is recommended, with a discharge rate of at least 10C or higher
Charging method	DC 5.5*2.1 charger jack
Others
Onboard Controller	ESP32-WROOM-32
Onboard Controller features	Wi-Fi, BT, Dual Core, 240MHz
Wireless control method	2.4G Wi-Fi
Wired Control	USB, UART
Manual Control	Web App control

Self-balancing posture

Embedded high-precision 9-axes motion tracker ICM20948,
enabling self-balancing control

Remote control via Web

auto-generated WiFi Hotspot on startup, needs no compiling environment configuration, allows connecting to and login the control page via smartphone or PC browser, without installing app

Rich Interfaces and Peripherals

Equipped with 0.91inch OLED display, the display content can be modified via Web application or the host UART interface

HexArth, 0.91inch OLED display and Rich Interfaces & Peripherals

Extended Vision Application

Equipped with reserved camera mounting hole for users to directly install camera with compatible size

HexArth, reserved camera mounting hole for users to directly install cameras with compatible sizes

Fully Open Source for Secondary Development

comes with fully open control code and communication interface documentation. With the rich set of examples, developers can perform secondary development with multiple programming languages and devices

Developing high-level functions

Raspberry Pi 4B / 5 can be attached as host controller to communicate with the sub controller via UART, the ESP32 sub controller will share lots of calculating task like connecting rod inverse solving and gait generation, retaining more Raspberry Pi performance for developing high-level functions

Multi-Functional Driver Board

Used as the sub controller of the robot, onboard ESP32 module and can be controlled via serial port, http request, ESP-NOW and other communication protocols, provides a web application for some basic control of the robot.

ESP32 can handle low-level computations for the robot, such as high-frequency PID controller for controlling wheel speed, high-frequency inverse kinematics calculations for robotic arm linkages, position interpolation calculation, Pan-Tilt angle control and OLED screen control, etc.

ESP32 is also responsible for data reading of various sensors, such as IMU (9-axis attitude sensor) and INA219 (Batt voltage detection), and can independently achieve the camera vertical stabilization function, effectively saving computing and IO resources for the host controller.

What's On Board