HardLabs

Robot hexapode

lucas-minaberry·robot-hexapode·electronique/antares.kicad_sch

Robot hexapode

About the Robot hexapode PCB

Robot hexapode is an open source Raspberry Pi PCB design by lucas-minaberry, published on GitHub under the Custom license license. It is a board, with 50 components from 37 distinct parts.

Its main chip is the Raspberry Pi 5, from the Raspberry Pi family. Other key parts include the Buck 12V-5V 10A, Digispark, ADS1115 (0x48), FE-URT-2 and PT4115. By type, the board carries 12 resistors, 9 connectors, 9 capacitors, 8 ICs, 5 diodes and 4 transistors.

It belongs with the robotics & motion and power & battery designs in this gallery.

From the project

Antares, robot hexapode à 18 degrés de liberté : conception mécanique, électronique, logiciel embarqué ROS 2 et essais

Robot marcheur à six pattes et 18 degrés de liberté, conçu comme base d'un robot de secours en zone difficile. Conçu, fabriqué et programmé par Lucas Minaberry, élève ingénieur en mécatronique à l'ESILV (depuis juin 2026).

1. Cahier des charges et dimensionnement : couples articulaires, longueurs des segments, bilan de masse, choix des actionneurs. 2. Conception mécanique : CAO SolidWorks, conception orientée fabrication et assemblage, choix des matériaux. 3. Électronique : distribution de puissance, commutation des 18 servomoteurs, mesure de la batterie, séquences de marche et d'arrêt…

Main components on the Robot hexapode

Buck 12V-5V 10ADigisparkRaspberry Pi 5ADS1115 (0x48)FE-URT-2PT4115ReSpeaker 2-MicsPi 5 : ports USB

Robot hexapode bill of materials (BOM)

50 components, 37 distinct parts.

QtyPartRefs
1
Buck 12V-5V 10A
U1
1
Digispark
U2
1
Raspberry Pi 5
U3
1
ADS1115 (0x48)
U4
1
FE-URT-2
U5
1
PT4115
U6
1
ReSpeaker 2-Mics
U7
1
Pi 5 : ports USB
U8
2
IRF4905
Q1, Q3
2
2N2222
Q2, Q4
1
USB-C Pi 5
J1
1
Patte 1
J2
1
Patte 2
J3
1
Patte 3
J4
1
Patte 4
J5
1
Patte 5
J6
1
Patte 6
J7
1
OAK-D SR (IMU BNO086)
J8
1
Clé WiFi USB
J9
1
LiPo 3S 5200mAh
BT1
Show 17 more
QtyPartRefs
1
30A
F1
1
ON/OFF
SW1
2
1.5KE18A
D1, D2
1
LED RGB
D3
2
LED 1W
D4, D5
7
1000uF
C1, C4, C5, C6, C7, C8, C9
1
1uF
C2
1
10uF
C3
1
100k
R1
1
22k
R2
2
10k
R3, R5
3
1k
R4, R6, R9
1
47k
R7
1
4.7k
R8
1
120R
R10
1
10R
R11
1
47R
R12

Robot hexapode design files

The KiCad project lives in the lucas-minaberry/robot-hexapode repository on GitHub; these links point at the commit this page was built from.

Robot hexapode: common questions

What microcontroller does the Robot hexapode use?

The Robot hexapode is built around the Raspberry Pi 5, from the Raspberry Pi family.

How many components are on the Robot hexapode?

50 components, from 37 distinct parts. The full bill of materials is listed on this page.

Where can I download the Robot hexapode design files?

From the lucas-minaberry/robot-hexapode repository on GitHub, which has the schematic; the links under Design files point to each one.

Can I use the Robot hexapode design in my own project?

It is published under Custom license, which limits how it may be reused; read the license before building on it.

Can I test firmware for the Robot hexapode without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug Raspberry Pi firmware against it before you order a PCB.

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