A family of 18-DOF, 3D-printed hexapod robots powered by an ESP32. Walk them from your phone over WiFi, or stream poses to them live from a computer. All the robots run the same firmware and gait generator. What differs is their frame, servos and dimensions.
| Nougat | Mochi | Macaroon | |
|---|---|---|---|
 |
 |
 |
|
| Servos | 18 × 21G digital | 18 × MG92B micro | 18 × 25 kg digital |
| Battery | 2 × 18650 (2S1P) | 2 × 18650 (2S) | 4 × 18650 (2S2P) |
| Leg links (coxa / femur / tibia) | 38 / 54 / 97 mm | 36 / 44 / 85 mm | 62 / 76 / 132 mm |
| Controller | ESP32 (Pico W legacy) | ESP32 (Pico W legacy) | ESP32 |
| Firmware define | ROBOT_NOUGAT |
ROBOT_MOCHI |
ROBOT_MACAROON |
| WiFi SSID | hexapod_nougat |
hexapod |
hexapod_macaroon |
Each robot's folder has its full build guide: bill of materials, 3D-printed parts, assembly, software setup, calibration and troubleshooting.
hexapod/
├── robots/ # Hardware for each robot
│ ├── nougat/ # README (build guide), 3d print/, images/
│ ├── mochi/
│ └── macaroon/
├── images/ # Images shared by all robots
└── software/
├── hexapod_esp32/ # ESP32 firmware (Arduino sketch), shared by all robots
│ ├── robot.h # Pick the robot you are building here
│ └── src/robots/ # Per-robot settings and generated motion tables
├── hexapod_pico/ # Legacy Raspberry Pi Pico firmware (unmaintained)
└── path_tool/ # Gait generator that produces the motion tables
└── robots/ # Per-robot geometry and gait parameters (JSON)
- Build the robot by following its guide in
robots/. - Open
software/hexapod_esp32/hexapod_esp32.inoin the Arduino IDE. - In
robot.h, leave only your robot's#define ROBOT_*uncommented. - Upload, join the robot's WiFi network and calibrate it at
http://192.168.4.1.
The ESP32 firmware README covers setup, the UDP protocol and OTA updates. The path tool README explains how the motion tables are generated and how to add a new robot.
- Website: rookidroid.com
- Issues: GitHub Issues
- E-mail: info@rookidroid.com