{"product_id":"18-dof-hexarth-bionic-hexapod-robot-open-source-for-esp32-supports-vector-motion-control-attitude","title":"18-DOF HexArth Bionic Hexapod Robot, Open Source For ESP32, Supports Vector Motion Control, Attitude","description":"\u003cdiv class=\"overviewSec\"\u003e18-DOF HexArth bionic hexapod robot, open source for ESP32, supports Vector Motion Control, Attitude Angle Rotation Control, and Self-Balancing Control\u003c\/div\u003e\n\u003cdiv class=\"richWrap\"\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003e\n\u003cspan\u003eHexArth\u003c\/span\u003e\u003cbr\u003eHigh-DOF bionic hexapod robot\u003c\/div\u003e\n\u003cp class=\"hilitBlock2 round1234\"\u003ePowered by ESP32 sub controller\u003c\/p\u003e\n \u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-1.jpg\" alt=\"HexArth, front view\"\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eProduct features\u003c\/div\u003e\n\u003cdiv class=\"pdTRBL2 alignl\"\u003e\n\u003cp\u003eThe \u003cstrong\u003eHexArth\u003c\/strong\u003e 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.\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003eEquipped with 30kg.cm serial bus servos capable of real-time feedback on position, speed, and input voltage\u003c\/li\u003e\n\u003cli\u003eUses sub controller for connecting rod inverse solving and gait generation, sharing calculation tasks for the host controller and improving the gait solving efficiency\u003c\/li\u003e\n\u003cli\u003eAluminum alloy + carbon fiber materials, ensuring strength while keeping it light weight\u003c\/li\u003e\n\u003cli\u003eAdditional Raspberry Pi can be attached as the host controller to enable OpenCV high-level functions\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eSpecifications\u003c\/div\u003e\n\u003ctable class=\"tabSty-2 mgnTB subBlock alignc mceItemTable\"\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003cth colspan=\"2\"\u003eGeneral\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth width=\"30%\"\u003eProduct name\u003c\/th\u003e\n\u003ctd\u003eHexArth\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eStand up\u003cbr\u003e(Length × Width × Height)\u003c\/th\u003e\n\u003ctd\u003e344.30 × 428.59 × 154.88 (mm)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eSelf-Weight\u003c\/th\u003e\n\u003ctd\u003e2.1kg\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDOF\u003c\/th\u003e\n\u003ctd\u003e18 overall, 3 per single leg\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth colspan=\"2\"\u003eMotion performance\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eAvailable gait\u003c\/th\u003e\n\u003ctd\u003etripod gait, self-balancing\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDynamic Payload\u003c\/th\u003e\n\u003ctd\u003e1kg\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth colspan=\"2\"\u003eServo info\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDimensions\u003c\/th\u003e\n\u003ctd\u003e45.20 × 24.70 × 37.30 (mm)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eWeight\u003c\/th\u003e\n\u003ctd\u003e69g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eOperating voltage\u003c\/th\u003e\n\u003ctd\u003e12V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eIdle speed\u003c\/th\u003e\n\u003ctd\u003e0.222sec \/ 60° (45RPM)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eStalling torque\u003c\/th\u003e\n\u003ctd\u003e30kg.cm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eRated load\u003c\/th\u003e\n\u003ctd\u003e10kg.cm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eRated current\u003c\/th\u003e\n\u003ctd\u003e900mA\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eControl method\u003c\/th\u003e\n\u003ctd\u003edigital signal\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eControl system type\u003c\/th\u003e\n\u003ctd\u003ehalf-duplex asynchronous serial communication\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth colspan=\"2\"\u003ePower supply\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eBatt set Support\u003c\/th\u003e\n\u003ctd\u003e3s2p 18650 rechargeable Lithium battery set \u003cspan class=\"note\"\u003e(NOT Included)\u003c\/span\u003e is recommended, with a discharge rate of at least 10C or higher\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eCharging method\u003c\/th\u003e\n\u003ctd\u003eDC 5.5*2.1 charger jack\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth colspan=\"2\"\u003eOthers\u003c\/th\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eOnboard Controller\u003c\/th\u003e\n\u003ctd\u003eESP32-WROOM-32\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eOnboard Controller features\u003c\/th\u003e\n\u003ctd\u003eWi-Fi, BT, Dual Core, 240MHz\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eWireless control method\u003c\/th\u003e\n\u003ctd\u003e2.4G Wi-Fi\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eWired Control\u003c\/th\u003e\n\u003ctd\u003eUSB, UART\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eManual Control\u003c\/th\u003e\n\u003ctd\u003eWeb App control\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003c\/div\u003e\n\u003cdiv\u003e \u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eSelf-balancing posture\u003c\/div\u003e\n\u003cp class=\"richDesc\"\u003eEmbedded high-precision 9-axes motion tracker ICM20948,\u003cbr\u003eenabling self-balancing control\u003c\/p\u003e\n\u003cvideo autoplay=\"autoplay\" class=\"round1234\" loop=\"loop\" src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-3.mp4\"\u003e\u003c\/video\u003e\n\u003cdiv\u003e\n\u003cbr\u003e\u003cbr\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eRemote control via Web\u003c\/div\u003e\n\u003cp class=\"richDesc\"\u003eauto-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\u003c\/p\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-5.jpg\" alt=\"HexArth, Remote control via Web\"\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eRich Interfaces and Peripherals\u003c\/div\u003e\n\u003cp class=\"richDesc\"\u003eEquipped with 0.91inch OLED display, the display content can be modified via Web application or the host UART interface\u003c\/p\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-7.jpg\" alt=\"HexArth, 0.91inch OLED display and Rich Interfaces \u0026amp; Peripherals\"\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eExtended Vision Application\u003c\/div\u003e\n\u003cp class=\"richDesc\"\u003eEquipped with reserved camera mounting hole for users to directly install camera with compatible size\u003c\/p\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-9.jpg\" alt=\"HexArth, reserved camera mounting hole for users to directly install cameras with compatible sizes\"\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eFully Open Source for Secondary Development\u003c\/div\u003e\n\u003cp class=\"richDesc\"\u003ecomes 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\u003c\/p\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-11.jpg\" alt=\"HexArth, Fully Open Source for Secondary Development\"\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eDeveloping high-level functions\u003c\/div\u003e\n\u003cp class=\"richDesc\"\u003eRaspberry 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\u003c\/p\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-13.jpg\" alt=\"HexArth, Developing high-level functions\"\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eMulti-Functional Driver Board\u003c\/div\u003e\n\u003cdiv class=\"alignl\"\u003e\n\u003cp\u003eUsed 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.\u003c\/p\u003e\n\u003cp\u003eESP32 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.\u003c\/p\u003e\n\u003cp\u003eESP32 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.\u003c\/p\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cdiv class=\"pdT\"\u003e\n\u003cdiv class=\"richTitle\"\u003eWhat's On Board\u003c\/div\u003e\n\u003cdiv\u003e \u003c\/div\u003e\n\u003cdiv\u003e\n\u003cimg class=\"round1234\" src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-intro.jpg\" alt=\"HexArth, What's On Board\"\u003e\n\u003cdiv\u003e \u003c\/div\u003e\n\u003cdiv class=\"richGridWrap richGridWrap-valignTop richGridWrap-2c alignl subBlock bgGrey round1234\"\u003e\n\u003cdiv\u003e\n\u003col\u003e\n\u003cli\u003e\u003cstrong\u003eESP32 sub controller module\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eESP32 module antenna header\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eMotor control headers\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eINA219\u003c\/strong\u003e\u003cbr\u003eBatt voltage detection IC\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003ePower supply\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eUSB communication \/ downloading port\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eLidar USB port\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eESP32-IO0 button\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eESP32-EN button\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eI2C device header\u003c\/strong\u003e\u003c\/li\u003e\n\u003c\/ol\u003e\n\u003c\/div\u003e\n \n\u003cdiv\u003e\n\u003col start=\"11\"\u003e\n\u003cli\u003e\u003cstrong\u003eLidar UART headers\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eBus servo control headers\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eTB6612FNG\u003c\/strong\u003e\u003cbr\u003eMotor driver IC\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eHost controller 40PIN extended header\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eHost controller connection header\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003eI2C device headers\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eICM20948\u003c\/strong\u003e\u003cbr\u003e9-axis IMU attitude sensor\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003e12V switch controlled by ESP32-IO4\u003c\/strong\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cstrong\u003e12V switch controlled by ESP32-IO5\u003c\/strong\u003e\u003c\/li\u003e\n\u003c\/ol\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cdiv\u003e\n\u003cbr\u003e\u003cbr\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cdiv\u003e\n\u003cdiv class=\"richTitle\"\u003eOutline Dimensions\u003c\/div\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-size1.jpg\" alt=\"HexArth, Outline Dimensions\"\u003e \u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/HexArth\/HexArth-details-size2.jpg\" alt=\"HexArth, Outline Dimensions\"\u003e\n\u003c\/div\u003e\n\u003cdiv\u003e\n\u003cdiv class=\"richTitle\"\u003eResources \u0026amp; Services\u003c\/div\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/LCD\/common\/res_banner.png\" alt=\"\"\u003e\n\u003cdiv class=\"bgGrey\"\u003e\n\u003cimg src=\"https:\/\/www.waveshare.com\/img\/devkit\/LCD\/common\/res_content.png\" alt=\"\"\u003e\u003chr\u003e\n\u003cdiv\u003e\n\u003cstrong\u003eWIKI: \u003c\/strong\u003e\u003ca id=\"tab-wiki\" href=\"http:\/\/www.waveshare.com\/wiki\/HexArth\" target=\"_blank\"\u003ewww.waveshare.com\/wiki\/HexArth\u003c\/a\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e","brand":"Waveshare Electronics","offers":[{"title":"Default Title","offer_id":51934586798363,"sku":"Waveshare 34022","price":49999.0,"currency_code":"INR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0676\/3325\/0587\/files\/hexarth-1_1.jpg?v=1774524557","url":"https:\/\/mgsl.in\/products\/18-dof-hexarth-bionic-hexapod-robot-open-source-for-esp32-supports-vector-motion-control-attitude","provider":"MG Super Labs","version":"1.0","type":"link"}