https://github.com/teuler/hexpodling
"hexbotling" is a work-in-progress, 3-degrees of freedom (3DOF) hexapod robot based on the Vorpal from Vorpal Robotics.
https://github.com/teuler/hexpodling
hexapod mmbasic picomite robot
Last synced: 10 months ago
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"hexbotling" is a work-in-progress, 3-degrees of freedom (3DOF) hexapod robot based on the Vorpal from Vorpal Robotics.
- Host: GitHub
- URL: https://github.com/teuler/hexpodling
- Owner: teuler
- Created: 2020-06-27T08:15:54.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2025-08-24T07:57:13.000Z (10 months ago)
- Last Synced: 2025-08-24T14:24:18.224Z (10 months ago)
- Topics: hexapod, mmbasic, picomite, robot
- Language: Python
- Homepage:
- Size: 118 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# hexpodling
[
](https://github.com/teuler/hexpodling/blob/master/pictures/hexpodling2_1.png)
"hexpodling" is a work-in-progress, 3-degrees of freedom (3DOF) hexapod robot based on the [Vorpal](https://vorpalrobotics.com/wiki/index.php/Vorpal_The_Hexapod) from Vorpal Robotics. The original Vorpal is remote-controlled and 2DOF; it is aimed at teaching in schools.
The main differences between the original and the version described here are:
* The legs contain an additional segment, hence 3DOF
* Based on [Raspberry Pi Pico microcontrollers](https://www.raspberrypi.com/products/raspberry-pi-pico/) instead of the original's Arduino Nano, with one Pico controlling the movements (server) and one for the "higher" functions (client)
* Programmed in [PicoMite MMBasic](https://geoffg.net/picomite.html) by Peter Mather and Geoff Graham
* Supports current sensing (load) for up to 8 servos, e.g. to detect if the robot is stuck
Here is a [video](https://youtu.be/h_NlpfQ0yDU) demonstrating its movements (remote-controlled).
For the details, see [Wiki](https://github.com/teuler/hexpodling/wiki).
### Release Notes
* 2025-08-24
* Sensor head with camera (ESP32-cam) and time-of-flight distance sensor added (see [new wiki page](https://github.com/teuler/hexpodling/wiki/Camera-and-ToF-sensor))
* new printed parts (sensor head) added
* 2025-01-01 - After a long pause
* Switched to MMBasic :-)
* New client board featuring two Pico RP2040 microcontrollers
* Remote control (to test movements) direcly w/ a wireless XBox controller
* 2020-12-27 - Updates - Still work in progress
* Wiki pages 'Mechanics' and 'Boards' added
* Code updated (now also some initial code for the client microcontroller)
* Both boards - for the "walk engine" and for the "behavior engine" - revised (including bug fixes)
* 2020-06-27 - Initial release