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18-DOF HexArth Bionic Hexapod Robot
- Experience advanced robotics with this high-torque hexapod, featuring 30kg.cm servos and a robust yet lightweight aluminum and carbon fiber build.
- Enhance functionality with a Raspberry Pi for high-level operations, while the ESP32 sub controller efficiently manages gait generation and inverse solving.
Artikelnummer:
13061
Verfügbarkeit: Sofort-Versand ab Lager
CHF 484.00
Artikelbeschrieb
Details
The HexArth is a high-DOF bionic hexapod robot which features 30kg.cm high-torque servos, with reliable structure and a cross-platform Web APP. It uses the ESP32 as sub controller for connecting rod inverse solving and gait generation, sharing calculation tasks for the host controller, an additional Raspberry Pi 4B / 5 can be attached as the host controller for high-level decision operating.
- Equipped with 30kg.cm serial bus servos capable of real-time feedback on position, speed, and input voltage
- Uses sub controller for connecting rod inverse solving and gait generation, sharing calculation tasks for the host controller and improving the gait solving efficiency
- Aluminum alloy + carbon fiber materials, ensuring strength while keeping it light weight
- Additional Raspberry Pi can be attached as the host controller to enable OpenCV high-level functions
Specifications
| General | |
|---|---|
| Product name | HexArth |
| Stand up (Length × Width × Height) |
344.30 × 428.59 × 154.88 (mm) |
| Self-Weight | 2.1kg |
| DOF | 18 overall, 3 per single leg |
| Motion performance | |
| Available gait | tripod gait, self-balancing |
| Dynamic Payload | 1kg |
| Servo info | |
| Dimensions | 45.20 × 24.70 × 37.30 (mm) |
| Weight | 69g |
| Operating voltage | 12V |
| Idle speed | 0.222sec / 60° (45RPM) |
| Stalling torque | 30kg.cm |
| Rated load | 10kg.cm |
| Rated current | 900mA |
| Control method | digital signal |
| Control system type | half-duplex asynchronous serial communication |
| Power supply | |
| Batt set Support | 3s2p 18650 rechargeable Lithium battery set (NOT Included) is recommended, with a discharge rate of at least 10C or higher |
| Charging method | DC 5.5*2.1 charger jack |
| Others | |
| Onboard Controller | ESP32-WROOM-32 |
| Onboard Controller features | Wi-Fi, BT, Dual Core, 240MHz |
| Wireless control method | 2.4G Wi-Fi |
| Wired Control | USB, UART |
| Manual Control | Web App control |
Self-balancing posture
Embedded high-precision 9-axes motion tracker ICM20948,
enabling self-balancing control
Remote control via Web
auto-generated WiFi Hotspot on startup, needs no compiling environment configuration, allows connecting to and login the control page via smartphone or PC browser, without installing app
Rich Interfaces and Peripherals
Equipped with 0.91inch OLED display, the display content can be modified via Web application or the host UART interface
Extended Vision Application
Equipped with reserved camera mounting hole for users to directly install camera with compatible size
Fully Open Source for Secondary Development
comes with fully open control code and communication interface documentation. With the rich set of examples, developers can perform secondary development with multiple programming languages and devices
Developing high-level functions
Raspberry Pi 4B / 5 can be attached as host controller to communicate with the sub controller via UART, the ESP32 sub controller will share lots of calculating task like connecting rod inverse solving and gait generation, retaining more Raspberry Pi performance for developing high-level functions
Multi-Functional Driver Board
Used as the sub controller of the robot, onboard ESP32 module and can be controlled via serial port, http request, ESP-NOW and other communication protocols, provides a web application for some basic control of the robot.
ESP32 can handle low-level computations for the robot, such as high-frequency PID controller for controlling wheel speed, high-frequency inverse kinematics calculations for robotic arm linkages, position interpolation calculation, Pan-Tilt angle control and OLED screen control, etc.
ESP32 is also responsible for data reading of various sensors, such as IMU (9-axis attitude sensor) and INA219 (Batt voltage detection), and can independently achieve the camera vertical stabilization function, effectively saving computing and IO resources for the host controller.
What's On Board
- ESP32 sub controller module
- ESP32 module antenna header
- Motor control headers
- INA219
Batt voltage detection IC - Power supply
- USB communication / downloading port
- Lidar USB port
- ESP32-IO0 button
- ESP32-EN button
- I2C device header
- Lidar UART headers
- Bus servo control headers
- TB6612FNGMotor driver IC
- Host controller 40PIN extended header
- Host controller connection header
- I2C device headers
- ICM20948 9-axis IMU attitude sensor
- 12V switch controlled by ESP32-IO4
- 12V switch controlled by ESP32-IO5
Package Content
Weight: 0.177 kg
* the 3s2p 18650 Batt set is NOT included, please purchase separately.
- HexArth x1
- USB Type-A male port to Type-C male port cable ~1m x1
- Allen spanner 1.5mm x1
- Allen spanner 2mm x1
- Mini cross wrench sleeve x1
- Screwdriver x1
- OPTIONS Power Adapter x1
