Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

HEXRO - 12-servo-motors hexapod robot

by Naus, published

HEXRO - 12-servo-motors hexapod robot by Naus Sep 18, 2015
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HEXRO is a small Hexapod robot designed to work with any microcontroller and servo motor controller.


  • print with 100% infil at 0.2 mm resolution
  • use 12 of 9g servo motor (towerpro sg90)
  • need a M3 nylon bolts for joints.(can use metal bolts but heavy)
  • need to cut the bolts

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Comments deleted.

neat design! Currently working the code for this. I'm a total newbie with arduino and stuck. Anyone got the code?


Hi Naus,
My class partners and I need project in my school. The project are HEXRO-12 but we hasn't got the code. You send this it in my gmail? Is [email protected]

Hello, I made your design and programmed it myself, this is how it looks: https://www.youtube.com/watch?v=AsDJD4zBybc

Edit I also added Bluetooth controls https://www.youtube.com/watch?v=sMg9oKGSVog

Hi holypaashaas95, sorry for my bed english. your code is very cool! You could send me your code, I would be very grateful!

Does anybody have any example code or completed sketches to get me started with the software side of this contraption?? Neat design, thanks for the up!


I'm planning to build 5 of this with some friends in our fablab.
We are planning to make the frame with carbon fiber.
Can you post a dxf or svg files for the 2 components? It will be easier for us to use it instead of creating a new one from scratch

hello - is 100% infill a must ? My 3D printer person is saying 40 % infill is ok. Can someone comment on this pls?

it depends on the material you are using. i would say try about 50% and if it feels too heavy go down. If you want more strength go up. another thing to try is changing your infill type. i typically use a hexagonal infill which in some parts can increase strength more so than typical cross hatched infill.

40% is rather too weak. You can try 70-80% (of course this'd be weaker than 100%).

Gtting over 50% infill is totally useless. My university try many tests, and the useful limit is 45%

I printed this in PLA, 2 shells, 25% infill - works just fine.
I think more then 25% don't give as much strength - depending on the structure.

I second the request for sketches. Specifically, a BOM for the electronics (Arduino, shields, etc.) and of course configuration instructions. Would be nice to run this off an app controllable over BT.

I like the edgy design.

what screws did you use to connect the horn to the parts?


a modification of different way to hold the horn http://www.thingiverse.com/thing:1241518, no screw needed.

Hexro alternative leg design

Cool. I did something similar, I have a slot that the front of the horn slips into. Still designing and printing. Biggest hurdle is a power supply small enough to be onboard and provide enough power. I also have an arduino nano and expansion board designed, with a pan head holing a sonar module.

I was going to post a pic, but I can't do that in the comments section.

Very nice design!

Thank you. I hope you would enjoy making my things. If you discover any mistakes or have any suggestions please let me know. Also, in nearly future I plan to upload the sketches too.

Hi Naus

I just built a variation on your robot, its on thingiverse as well and is called funny 6 feet. The problem is I cannot understand the software mainly because no connection diagram is provided and guessing 12 servo connections is not do-able.

So I track their project and see it is based on yours. You say here more then one year ago you will share your arduino code.
Would you be willing to share? I see in your pictures you have all servos numbered so I'd love to see how you make this work


Any word on sketches?

I love the vertical knee movement design, but is going to require some custom coding.

I used 100% infill semiflex for the feet and tendons.

Very cool. Any chance you'll upload the sketches needed to run this?