A 3D Printed Hexapod Robot

> 🚀 This is the middle of the story. See how this robot was refined into the ultimate > Hexapod Mochi — smarter chassis, better servos, and all the hard lessons built in: > Read the Hexapod Evolution Story →

This is Hexapod v2 — the upgraded generation with stronger 21G servos. For the original build with MG92B or MG90S servos, see v1.

Videos

https://www.youtube.com/watch?v=3Kz9VSbtfug&ab_channel=RookiDroid https://www.youtube.com/watch?v=4AcA4e5eJr4&ab_channel=RookiDroid

Introduction

This agile, 3D-printed hexapod robot works with either a Raspberry Pi Pico or an ESP32, providing flexibility and enhanced performance. Equipped with stronger and faster 21G servos, it offers:

• A robust, durable structure
• WiFi-enabled remote control
• Smooth, agile movement
• Over-the-air (OTA) firmware updates for easy maintenance

Known Issues & Limitations

v2 was a meaningful step forward from v1, but building it revealed several problems that were only fully solved in Hexapod Mochi:

• Severe jittering: The 21G servos introduced violent, unpredictable jitter during operation — a significant reliability and stability issue that made smooth movement difficult to achieve consistently.
• Servo trade-offs: While the 21G servos are stronger, they sit in an awkward middle ground — more powerful than MG90S but without the refined torque-to-size ratio of the MG92B servos used in Mochi. Getting the balance right proved harder than expected.

⚠️ Starting a new build? Skip the trial and error — go straight to Hexapod Mochi, where every one of these issues has been addressed with a clean-slate redesign.

Design Considerations

The v2 design prioritizes structural integrity and durability across dynamic movements. Key considerations include:

• Optimized Layer Orientation: Stress is distributed along printed layers rather than across them, reducing delamination risk and improving overall strength.
• Reinforced Joints & Mounts: Leg segments and servo mounts feature reinforced connection points for better load distribution and stress resistance.
• Compact & Sturdy Frame: Body and leg components balance weight and rigidity, keeping the platform stable without overloading the servos.
• Interlocking & Modular Design: Components interlock securely without adhesives, improving assembly integrity and repairability.
• Material Flexibility: Thanks to the optimized geometry, this robot performs reliably even with standard PLA.

These design principles carried forward into Hexapod Mochi — see how they were taken even further →

Instructions

• 3D Printing and Assembly
• Electronics
  • ESP32 version
  • Raspberry Pi Pico version
• Software
  • ESP32 version
  • Raspberry Pi Pico version

💡 Want the most refined version? Check out the final design: Hexapod Mochi — the fully evolved hexapod

Remote Controller

• Android Controller
• Arcade Remote Controller