rookidroid/hexapod：3D打印六足机器人

项目介绍

rookidroid/hexapod 是一个托管在 GitHub 上的开源项目，主要使用 C 编写，采用 GNU General Public License v3.0 许可证，目前获得 164 个 Star、26 次 Fork。

仓库全名: rookidroid/hexapod

README 摘要

完整内容见 GitHub 原始 README 或本页。

常见问题

hexapod 用什么语言开发？

主要使用 C 编写，采用 GNU General Public License v3.0 许可证，目前有 164 个 Star。

hexapod 可以免费商用吗？

仓库标注的许可证为 GNU General Public License v3.0，商用前请先阅读仓库 LICENSE 文件确认授权范围。

如何获取 hexapod 的源码？

可以直接克隆仓库：git clone https://github.com/rookidroid/hexapod.git，默认分支为 main；安装与运行步骤见仓库 README。

hexapod 最近还在维护吗？

仓库最近一次更新为 10月5日，当前没有未关闭的 Issue；Star 数为 164，可作为社区活跃度的参考。

关于

GitHub 原始描述（英文）

A 3D Printed Hexapod Robot

3d-printing arduino esp32 esp32-arduino hexapod

GNU General Public License v3.0
164 Stars
26 Forks
6 Watching

描述取自 GitHub 官方 API，保持仓库作者书写的原文。

简要分析

热度分

222

价值分

106

活跃状态

活跃

GitHub

语言占比

C++

Jupyter Notebook

Python

Release

v3.2.010月1日

贡献者

rookiepeng

dependabot[bot]

claude

Hexapod

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.

The Robots

	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.

Repository Layout

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
    ├── package_esp32.py    # Packages the ESP32 sketch into one copy per robot
    ├── 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)

Quick Start

Build the robot by following its guide in robots/.
Open software/hexapod_esp32/hexapod_esp32.ino in 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.

To skip step 3, download hexapod_<robot>_<version>.zip from the releases: a copy of the sketch with your robot already selected. python software/package_esp32.py builds the same zips locally into dist/.

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.

License

GPL-3.0

Support

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