SERVO WALKER / ESP32 APPLICATION
Hexapod
A hexapod robot built with an ESP32 and hobby servos, and utilizes a svelte app to control it
About this project
About this project
A six-legged walker built from the SmallpTsai printed design: eighteen MG92B servos split across two PCA9685 boards, an ESP32-S3 with camera on top, an MPU6050 and HMC5883L for orientation, two 18650 cells in a 2s2p pack and seven buck converters. The legs use a remixed thigh part that moves screws from the side to the top so assemblies come apart without cracking. A browser controller deployed from GitHub Pages sends protobuf over BLE and websockets and exposes calibration and network settings plus a visualisation. Building means PlatformIO for the filesystem image and then the firmware, or the browser flasher. A MuJoCo simulation with reinforcement learning training and sim-to-real policy export is included.
From the README
From the README
- Feature
- Two PCA9685 - 18 MG92B servos
- Power
- Two 18650 in a 2s2p configuration
- Build
- Upload filesystem image using platformIO
Hardware
Boards: ESP32
ESP32-class board. Verify the exact board revision, display, power source and wiring in the upstream build guide.
Media credit & rights
Upstream project media · rights remain with its owner · Credit: runeharlyk
Screenshots from the upstream README. Code and firmware were not executed. License notices are included.
View original source ↗ Copyright & removal · Reviewed
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Repository links do not imply author endorsement or verified hardware compatibility. Check the upstream safety guidance before powering or flashing a build.