The Hexapod v2

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

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