To learn robotics, the best way is to build a robot by yourself. You will learn different things in the whole process. By the studying the program source codes you can see the techniques of programming. This  3D print Hexapod robot  is controlled by a smartphone and is the idea one for you to build.  Here provides the information for you to build one.  All the components you can buy from



  • a HuaDuino, an Arduino-kind control board with 12 servo connectors and integrated battery charging circuit  - get it at taobao.
  • 12 of Tower Pro MG90s or compatible servos, get them here.
  • a CC2541 BLE module,  get it here.
  • a 10K Ohms potentiometer, get it here.
  • a 3.7V polymer lithium battery, get it here
  • some M2x6mm tapping screws, get them here.
Software & 3D models:
  • STL files - download here.
  • Arduino code - download here, opens and uploads firmware.ino in Arduino IDE program
  • iOS app - download here.
  • Android app - download here,  for HKU students contact us if you want to have Android app source code to study.

The connection of components to the control board as followings, see also the  assembly video at below section for detail assemble steps.


Servo - 

  • front right hip servo -> D9
  • front right leg servo -> D8
  • front left hip servo -> D10
  • front left leg servo -> D11
  • mid right hip servo -> D6
  • mid right leg servo -> D4
  • mid left hip servo -> D7
  • mid left leg servo -> D5
  • back right hip servo -> D3
  • back right leg servo -> D2
  • back left hip servo -> D13
  • back left right servo -> D12

Potentiometer -

  • VCC - > 5V pin
  • Signal -> A3
  • Gnd -> Gnd

Buzzer - 

  • positive polar -> A2
  • negative polar -> Gnd

CC2541 BLE Module -

  • plug it onto the 6 pins socket
3D Printing -
  • Rafts: No
  • Supports: Doesn't Matter
  • Layer Height: 0.2mm
  • Infill: 10%
  • Notes: print 3 pairs of hip and leg model
Assembling Notes :
  • Initial posture of the robot is stance (as the photo) which all servos are in initial angle 90°. When applying the servo arm and screw you must the turn the robot on to allow the robot code to turn the servos to 90°, then adjust the hip and leg part to form the stance;
  • Before applying the screw to potentiometer, the knob should be turned all the way counter clockwise down to the end where it should point to the word "STOP" on cover. The robot will be on stance when turned on;
  • While tested everything are all right, you can put the cover on and applying a M2 tapping screws to the front and back sides;
  • Follows the assembly steps at below video;


How to Play -
  • Turning potentiometer knob clockwise to the position pointing TST label, the robot will perform demo mode;
  • Turning the knob clockwise and pointing to RC label, the robot can be controlled by the smartphone app.
  • With the Android app, you can use motion to control the robot as shown in the demo video.
Battery Charging -

  • Connecting 5V power source to the USB port;
  • While charging the LED will be red; while full charge the LED will be green;