Hexapod Mochi

Meet Hexapod Mochi: a six‑legged, WiFi‑enabled crawler with 18 degrees of freedom and a fresh, circular body that balances weight, simplifies wiring, and improves stability. Mochi is a redesigned evolution of the original Hexapod, pairing robust 3D‑printed mechanics with MG92B metal‑gear servos and a ESP32 control. Drive it from your phone or laptop over its built‑in WiFi access point, push firmware updates over the air, and customize everything from gait to posture.

The 3D‑printed design prioritizes structural integrity through strategic engineering choices:

• Layer orientation: Models are oriented to align print layers with load directions, distributing stress along layer length rather than across them to prevent delamination.
• Reinforced connection points: Leg segments and servo mounts feature strengthened joints that distribute loads and minimize stress concentrations.
• Balanced frame design: The circular body and leg components optimize the weight‑to‑rigidity ratio for stable locomotion and efficient servo operation.
• Modular assembly: Interlocking components reduce adhesive dependency while improving overall structural integrity.
• Material flexibility: The optimized geometry performs reliably with standard PLA filament while maintaining durability under repeated operational stress.

This approach delivers a durable robot capable of withstanding dynamic movements and extended use. The project includes a clear BOM, recommended print settings for PLA/PETG, wiring diagrams, and a simple control interface that runs over WiFi. You’ll also find motion look‑up tables for realistic gait patterns, tools to generate custom paths, and an Android app for point‑and‑go control.

Ready to print, bolt, and boot your own six‑legged explorer? Say hello to Mochi.

Instructions

• 3D Printing and Assembly
• Electronics
• Software
• Calibration

Video