Hexapod Mochi

Hexapod Mochi — The Latest 6-Legged Robot

🦾 The latest chapter in the Hexapod series. Three generations of iteration, failed
prototypes, and hard-won fixes led to Mochi. Read the full design story:
Hexapod Evolution on RookiDroid →

Hexapod Mochi is the latest generation of the Hexapod series — a 3D-printed, six-legged
walking robot with 18 degrees of freedom, WiFi UDP control, and OTA firmware updates. It
started as a toy for my kids and became a full engineering exercise in iteration: two
generations of underpowered servos, violent jitter, and a complete chassis redesign before
arriving here.

For earlier versions:
Hexapod v1 |
Hexapod v2

What Makes Mochi Different

Every problem from v1 and v2 has a specific fix in Mochi:

• MG92B servos — the strongest micro servo that still fits a compact form factor.
  High torque without the massive footprint or violent jitter that plagued v2's 21g servos.

• Circular chassis — replaced the rectangular body inherited across v1 and v2. The round
  frame improves symmetry, balances weight evenly across all six legs, and gives the robot
  better multidirectional leg clearance and a friendlier personality.

• Web-based calibration interface — no tools, no guesswork, no serial monitor.
  Mochi hosts a calibration page directly on the ESP32 — just open a browser, connect to
  the robot's WiFi, and fine-tune all 18 servo positions interactively in real time.

• OTA firmware updates — update the robot over the air without pulling it apart.

• Full control stack — BOM, wiring diagrams, gait look-up tables, path generation
  tools, and an Android app for point-and-go control. Everything included.

Features

• 18 Degrees of Freedom (6 legs × 3 DOF each)

• WiFi UDP control via built-in ESP32 access point

• Over-the-air (OTA) firmware updates

• Web-based calibration interface — tune all 18 servos from any browser

• Smooth, customizable gait

• Android app included

• PLA or PETG compatible — no exotic materials needed

• Modular, interlocking assembly — no adhesives required

Design Philosophy

• Layer Orientation: Print layers align with load directions, distributing stress along
  their length to prevent delamination under walking forces.

• Reinforced Joints: Leg segments and servo mounts feature strengthened connection points
  that spread loads and minimize stress concentrations.

• Circular Frame: The round body optimizes weight-to-rigidity ratio for stable locomotion
  and even servo load distribution across all six legs.

• Modular Assembly: Interlocking components make repairs and upgrades straightforward
  without specialized tools.

• Material Flexibility: Geometry is optimized to perform reliably with standard PLA or
  PETG under repeated dynamic stress.

Instructions

• Build the Hexapod Mochi

Remote Controller

• Android Controller

• Arcade Remote Controller