The Hexapod project is an end-to-end, from-scratch six-legged robot: 3D-printable parts and a bill of materials, an optional custom PCB, C++ firmware running the control loop in real time, and a Raspberry Pi handling configuration and telemetry above it. The same firmware core compiles into a shared library used by the project’s own simulator, so gaits tuned in simulation run unmodified on the physical robot.
The mechanism
Each of the six legs carries three actuated revolute joints — coxa, femur, and tibia — for eighteen degrees of freedom total, a plain hexapod leg arrangement with no mimic joints or closed kinematic loops. The remaining fixed joints in the description tie the printed chassis and hardware components (battery, electronics mount, brackets) rigidly to the body.
About this file — read before importing
This links directly to Hexapod-Hardware, ggldnl’s own repository — the description package published alongside the printable parts, BOM, and assembly guide. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what’s published there, unmodified, under the CERN Open Hardware Licence v2 (Weakly Reciprocal).