ESP32‑S3 powered hexapod robot firmware for 18 Dynamixel servos
Hexapod provides a complete open‑source solution to build a six‑legged robot using an ESP32‑S3 controller and 18 Dynamixel servos. It implements per‑leg inverse kinematics, three selectable gaits, and an IMU‑driven self‑levelling system, all running at 200 Hz. The repository bundles firmware, PCB schematics, mechanical CAD files, and a handheld transmitter, ready for hobbyists and researchers. Unlike scattered tutorials, this project delivers an integrated, configurable, and robust stack for building a functional walking robot.
View on GitHub →forgevolt/Hexapod