Description

Waveshare 18-DOF HexArth Bionic Hexapod Robot Open Source For ESP32 is a high-DOF bionic hexapod robot built around an ESP32 lower controller, 18 serial bus servos, and a fully open development architecture for robotics learning, gait research, motion control, and secondary development. It combines inverse kinematics, gait generation, web-based control, and an expandable structure that can also work with an additional Raspberry Pi host for more advanced perception or decision-making tasks.

The robot is designed for users who want a serious open-source ESP32 hexapod platform rather than a simple toy robot. With 18 degrees of freedom, 30kg.cm high-torque servos, and support for browser-based control, it is a strong fit for robotics education, research demos, and advanced custom development.

Features

• 18 degrees of freedom with 3 DOF per leg for flexible bionic movement.
• 18 high-torque serial bus servos rated up to 30kg.cm.
• ESP32-WROOM-32 lower controller for inverse solving, gait generation, and low-level motion tasks.
• ICM20948 9-axis motion tracker for posture sensing and self-balancing support.
• Cross-platform Web APP control through a browser, without installing a dedicated app.
• Open-source control code, STEP models, JSON command configuration, and development documentation.
• 0.91-inch OLED display, RGB indicators, INA219 battery monitoring, and rich peripheral support.
• Raspberry Pi 4B / 5 host expansion for higher-level functions such as OpenCV-based development.
• 3s2p 18650 battery system support with charging interface and protection circuits.

Specifications

Applications

This open-source hexapod robot is well suited for robotics education, gait algorithm experiments, inverse kinematics learning, ESP32 robotics development, computer vision robot projects, Raspberry Pi host expansion, motion control demonstrations, and bionic robot research. It is especially valuable for users who want a serious mobile robotics platform with expandable hardware and software.

Product List

1. HexArth 1
2. USB Type-A male port to Type-C male port cable ~1m 1
3. Allen spanner 1.5mm 1
4. Allen spanner 2mm 1
5. Mini cross wrench sleeve 1
6. Screwdriver 1
7. Optional power adapter 1

The recommended 3s2p 18650 battery set is not included and needs to be purchased separately.

Other Content

HexArth is designed for secondary development. The ESP32 handles low-level kinematics and gait generation, while an optional Raspberry Pi can take over more advanced host-side tasks such as perception, logic, and computer vision. This architecture makes the platform much more capable than a simple single-controller robot kit.

Resources

• Waveshare HexArth Wiki
• Waveshare ESP32 Wiki Resources
• Arduino IDE Documentation
• Raspberry Pi Documentation
• Inverse Kinematics Reference

FAQ

Is the battery included?
No. The recommended 3s2p 18650 rechargeable lithium battery set is not included and needs to be purchased separately.

Does this robot only use ESP32, or can it work with Raspberry Pi too?
The robot uses ESP32 as the lower controller by default, and it can also be expanded with a Raspberry Pi 4B / 5 as the host controller for higher-level functions.

How is the robot controlled?
It creates a Wi-Fi hotspot on startup and can be controlled through a browser-based Web APP on a phone or computer without installing an app.

What similar products should I compare it with?
If you want to add host-side computing, the Raspberry Pi Compute Module 5 Development Kit (EU) is a useful companion for advanced robotics development. If you are comparing broader Waveshare robotics and ESP32-based platforms, HexArth is the better fit when you specifically want a high-DOF open-source hexapod robot.