I hope you all enjoyed the video! Make sure to subscribe so that you don't miss future videos. I am really happy with the result. It might not be perfect but thats fine. Although I think it looks even greater in person :)

@Omen2005

6 ай бұрын

What program have you used to simulate in? In the video around 6min 🙂 It says "prototype" ok the floor

@SirKuhnhero

6 ай бұрын

@Omen2005 That is not really a simulation. I didn't have one of those. It is purely an animation to explain the walk algorithm. Edit. But the Program I used was Blender

Your parents can be proud of you, you've done really well 👍

@SirKuhnhero

6 ай бұрын

Thanks :>

Ill tell you this i can see it in your dads eyes. He is proud of you. Nice work.

@SirKuhnhero

7 ай бұрын

Thanks :)

i like how the parents had the most parents reactions.

Очень хорошо получилось! С интересом смотрел это видео!

@SirKuhnhero

Ай бұрын

Glad you liked it :)

Man.....well done. Keep this stuff coming!

@SirKuhnhero

8 ай бұрын

That's the plan. Although I won't have as much time anymore :(

Looks really great!

@SirKuhnhero

8 ай бұрын

It really does ;)

Great job!! Very cool!

@SirKuhnhero

8 ай бұрын

Happy you enjoyed it :D

Awesome project! This deserves more views, great work!

@SirKuhnhero

7 ай бұрын

Thanks :)

Cool hexapod with LED legs!

@SirKuhnhero

8 ай бұрын

Thnaks :D

Great project for a very talented young you are! What a complex machine you made! Thank you for sharing with all of us!

@SirKuhnhero

7 ай бұрын

Glad you enjoyed it :)

Very, very nice project.

@SirKuhnhero

8 ай бұрын

Glad you like it :)

Great job!

@SirKuhnhero

8 ай бұрын

Thanks!

The leds are an awesome addition

@SirKuhnhero

7 ай бұрын

Thanks ;)

How incredible it is man, such an amazing piece of work. Cant believe you share all your work for free with us, God bless every step you take.

@SirKuhnhero

7 ай бұрын

Thank you so much :)

Bro that is AMAZING! Will subscribe.

@SirKuhnhero

7 ай бұрын

Thank you :)

Great work, great skills, awesome music. Wirklich gut gemacht. Subscribed!

@SirKuhnhero

7 ай бұрын

What a Chad :)

This is and looks awesome. You are a great Engineer and i hope to see more from u;)

@SirKuhnhero

8 ай бұрын

Thank you :D

Looks sick!

@SirKuhnhero

7 ай бұрын

Thanks :)

Love it!

@SirKuhnhero

2 ай бұрын

Thanks :)

Nicely done

@SirKuhnhero

8 ай бұрын

Well thank you :)

This Hexapod looks as professional as the ones from the dancing videos... great job! :)

@SirKuhnhero

6 ай бұрын

Thank you! :)

Absolut überragend! Während andere in deinem Alter mit zocken die Zeit verschwenden programmierst und baust du etwas was viele nach ein paar Jahren Ausbildung nicht gebacken bekommen ! Mein Respekt und weiter so 😁🙌🏻

@SirKuhnhero

7 ай бұрын

Danke :) Ich habe momentan ein bisschen viel zu tun aber mein Nächstes Video sollte in ein paar Wochen kommen (hoffentlich)

Using metal hardware to assemble is icing on the cake when 3d printing.

@SirKuhnhero

7 ай бұрын

It takes some work to implement but it's always worth it :)

Sehr gut gebaut, liebe Grüße 🍀

@SirKuhnhero

5 ай бұрын

Danke :)

Nice invention ❤❤🎉

@SirKuhnhero

8 ай бұрын

Thank you ;)

niceeeeee deserve way more followers

@SirKuhnhero

8 ай бұрын

Thanks :D

Great Job! the best pert is when your father "try" (play...) it! usaully a dad buy a robot for his children... here something gos opposite! Really good job and thanks for sharing!

@SirKuhnhero

7 ай бұрын

Thanks! My Dad definitly had a lot of fun :)

Sieht voll geil aus mit den LEDs man könnte modular oben noch irgendwas draufhauen, solarzelle, nerf gun oder sowas. Supercooles Projekt

@SirKuhnhero

8 ай бұрын

Thanks :)

Nice

@SirKuhnhero

8 ай бұрын

Thanks, I am very proud of it :)

Because Skynet needed a spider bot?! JK. 😂 Awesome work! ❤

@SirKuhnhero

8 ай бұрын

No worries. I made shure Skynet can’t access it.

That's a _really_ cool result you got there! Nice job on explaining the walk, too! I was wondering if you considered using cables/sinews on the legs, and if you did, what made you decide to go with direct servos instead. With robotic hands, for example, people often use a human-like approach with all the motors in the arm, and I was under the impression that that's more than just a space issue. As I understand it, you can get flexibility into it more easily that way (which might make 3D terrain easier, too, idk)

@SirKuhnhero

7 ай бұрын

Thanks :) I did actually thought about it. I didn’t go that route for two reasons 1) Complexity: Using cables increases complexity compared to what I did. With more parts it becomes harder to build and more things can break. 2) Space constraints: If I wanted to use cables I deduced that I would have to mount the servos inside the body. Getting the Servos AND Electronics to fit inside the main body would not have been possible. It would have some benefits, especially for 3D terrain, but those are in my opinion not worth the added complexity. Especially for my first Hexapod.

great video.what software did you use for the walk simulation that you showed ?

@SirKuhnhero

7 ай бұрын

The walk animation was created in Blender. However, I wouldn't call it a simulation. I didn't have anything like that. Maybe something to explore in the future :)

In a later version you should add a camera in the middle of the led ring on the front. That would be awesome. Otherwise thats cool as hell

@SirKuhnhero

7 ай бұрын

Sounds awesome. With the current design I might be able to put one on top :)

While watching the vid, I thought you had like 10k subs, Very Good vid :) you might want use another micro controller as software serial

@SirKuhnhero

7 ай бұрын

Thanks for the idea! I recently got a STLink V2 which works wonderfully, but I'll look into your suggestion :)

Can you please provide an uncut video of the duration in which you made all the connections, I am having a hard time figuring out some things. What is the bigger connector connected to the xt60 connectors? Great work BTW! Keep it up

@SirKuhnhero

3 ай бұрын

If you are having trouble figuring out the wiring I would recomend the GitHub page. I have a wiring diagram there :) That big conector you saw is probably my Y-splitter. For the development I wanted to make shure I could power the hexapod with my lab bench supply with the battery connected. If you have any more Issues feel free to send me an Email. I would be happy to help you :). I do have exams at the moment so I might not reply right away.

@user-wt1do3qe7p

3 ай бұрын

Thank-you! I wasn't even sure I would get a reply in the first place.@@SirKuhnhero

Thanks for your great sharing, question: how to recharge the battery?

@SirKuhnhero

7 ай бұрын

I made sure that the battery can be disconnected and charged using an XT60 connector. Later I also made a Y splitter. This allows me to run the hexapod with the battery connected and power it from my lab power supply :)

@siddaharthjain2707

2 ай бұрын

I have also used a xt60 connector but how can i charge the batttery can you please tell?

@siddaharthjain2707

2 ай бұрын

And what type of y splinter you have used?

Hello, very good work, you are very good, question about the PCA9685 servo control in which you solder the node, in the first or in the second, when soldering it in the second when connecting to Bluetooth, the first movement of the first three legs is done well, and the other three make the opposite movement, but if I weld it differently, leg 1 does not make movements, can you help me, thank you.

@SirKuhnhero

Ай бұрын

I don't quit understand what you mean. Do you mean which one of the drivers has the solder jumper for the second I2C address soldert? Feel free to send me an Email (sirkuhnhero@posteo.com) with some more information and some images or videos. I would be happy to help you :)

👏👏👏👏👏👏👏👏👏👏👏

@SirKuhnhero

7 ай бұрын

Thanks :)

Time to scale it up and put some people in it. Next gen cars watch out these new babies are all terrain.

@SirKuhnhero

8 ай бұрын

That would be sick!! I love it :)

how did you upload all the files in the microcontroller ? do i have to select and opload one by one or i can select alll the fiiles and it will be uploaded ? please tell

@SirKuhnhero

2 ай бұрын

You will need to open the Hexapod_code folder with PlatformIO. PlatformIO will handle compiling all of the files into once you tell it to upload to your microcontroller. If you have never used PlatformIO I would recoment doing a very simple project (like a blink sketch) just to get some experience with a simpler project.

What software did you use for this animation/video at @6:40?

@SirKuhnhero

8 ай бұрын

That was done in Blender. Just some keyframes, nothing to complex :)

@WalterSamuels

8 ай бұрын

@@SirKuhnhero a man of many talents!

@SirKuhnhero

8 ай бұрын

@@WalterSamuels Thanks!! :D

What servos are you using?

@SirKuhnhero

18 күн бұрын

I am using MG996R servos

Which type of y splinter have you used to charge the battery and are there any other ways to charge the battery?

@SirKuhnhero

2 ай бұрын

I soldered two male and one female XT60 connector together to create a compact y splitter. For charging I used my labbench power supply (set to 8.4V and 2A). I don't need to worry about balancing since the BMS takes care of that. Alternatively you could also use a constant current power supply (with 8.4 Volt).

@siddaharthjain2707

2 ай бұрын

I am not getting a proper idea about what are you talking about can you give your mail so i can send you the images of my hexa pod circuit?

@SirKuhnhero

2 ай бұрын

Sure. You can send me a mail to sirkuhnhero@posteo.com

What program was the simulation render done in?

@SirKuhnhero

8 ай бұрын

The render was done in blender. Took some time but I think it paid off :) If you are talking about the simulation directory on GitHub, that was meant to me made in Unity. Although I abandobd that loong ago.

@ChrisCreates_

8 ай бұрын

@@SirKuhnhero so was the blender purely visual, or you coded the robot and tested the code in blender?

@SirKuhnhero

8 ай бұрын

Pretty much only visuals. I did make a geometry nodes setup to get that last animation to work procedurally but that was done after. I did use simulations in Unity to learn about the IK model for the leg. That is the simulation directory on GitHub. I don’t know if it is possible to use blender for such simulations but I will look into that for future robotics projects.

could u tell me what kind of material did you use for the 3D printing parts

@SirKuhnhero

2 ай бұрын

I used PLA. But it doesn't really matter as long as you don't use something super flexible.

@bavin1780

2 ай бұрын

@@SirKuhnhero im gonna do ur project but if i have problem can i contact u ?

@SirKuhnhero

2 ай бұрын

@@bavin1780 Sure. The best way to contact me is through Email (sirkuhnhero@posteo.com)

Did you make a simulation of the robot?

@SirKuhnhero

8 күн бұрын

I did not :)

Can you tell me how you will easily charge the battery when its drained? There is no usb on that pcb to charge

@SirKuhnhero

5 ай бұрын

I made sure to have a XT60 connection between the battery and the rest of the system. When I want to charge the battery I can just unplug it an charge it with my lab bench power supply :)

@siddaharthjain2707

2 ай бұрын

I have also built thiss but i have not understood how you have recharged the battery

can we use adruino instead of stm32 ?

@SirKuhnhero

2 ай бұрын

Should work. I think I remember having seen some Hexapods using an arduino. I am just a little bit worried that it is not fast enough for the inverse kinematics. I have no idea how unoptimized my code is. But even if the inverse kinematics end up slowing it down, which I don't consider to be likely, it will just walk a bit slower.

Great project! Just before i start to print anything, how tight are the tolerances? I have my printed pretty good tuned, so i don't want any part to be "sloppy"

@SirKuhnhero

7 ай бұрын

If you have a pretty well tuned printer it shouldn't be an issue. I would recomend printing & building a single leg first. This will also help you find the right fit for the sliprings. For those you can just add a bit of xy compensation to get just the right fit. Hope this helps :)

@Omen2005

7 ай бұрын

@@SirKuhnhero Thanks for the answer, I have now printed all the parts :P I still need to wait on some of the hardware. But i saw in you'r "to buy list" there is no Bluetooth module? but in the wiring diagram there seems to be one?

@SirKuhnhero

7 ай бұрын

You are right. I completly forgot to add it. It's an HC-05 but I also updated the Parts (toBuy) file if you want to use that.

@Omen2005

7 ай бұрын

@SirKuhnhero and one more thing, maybe it's only me but when I download the files from Github some of them are only 1 kb in size, like the fusion archive file 🙂 Nice project anyway, I will build one and se for my self

@SirKuhnhero

7 ай бұрын

@@Omen2005 Thats because those large files use Github LFS. Sadly the free tier has a bandwith cap for downloads and I reacht that some time ago. Unless this bandwith cap resets you won't be able to download those files. But you can find them on Printables ;)

Hii , which code files we have to upload in the stm32 only the header.h or all the files like math , output , ik , Bluetooth and header also

@SirKuhnhero

2 ай бұрын

You will have to upload all of them using PlatformIO.

@preetijain5828

2 ай бұрын

Okk thanks

What changes do i have to bring to the code if want to use adruino other than changing the pins where servo and other things will be connected ?

@SirKuhnhero

2 ай бұрын

I think you would only need to change the "DATA_PIN" for the LED strip and the "txBluetooth" & "rxBluetooth" for your bluetooth module in the header.h file. Since the servo driver uses I2C you probably wont need to change that if you use I2C0. You might need to change the channel for each servo depending on where you connect them on the driver (in output.cpp). You will also need to change the platform.ini file. right now it is set up to build for the stm32. I don't know what changes you need exactly but you can create a new PlatformIO project and take a look at the created platformio.ini file. That will be a good template. Just remember that you need to keep the lib_deps definition. Without them it doesn't include the required libraries.

@preetijain5828

2 ай бұрын

@@SirKuhnhero thank you so much

@preetijain5828

2 ай бұрын

There were 2 connections of servo on the stm32 on A7 AND A6 so are they anolog or didgital outpit pins ?

@SirKuhnhero

2 ай бұрын

Do you mena B6 and B7? I think those are digital pins. But more importantly, they are the pins for the I2C bus.

@preetijain5828

2 ай бұрын

@@SirKuhnhero thanks

Now build a giant one you can ride on.

@SirKuhnhero

7 ай бұрын

That sounds awesome. I actually thought about it and did some rough calculations too. It should be possible, but it will take a lot of time and money. Unfortunately I don't have enough of either.

@themanthelegend7048

7 ай бұрын

@@SirKuhnhero haha i hear you there.

can this be done without the LEDs?

@SirKuhnhero

16 күн бұрын

Absolutely, the code is designed to handle that. Some people have actually build my Hexapod design and as of now all of them chose to ignore the LEDs.

i dont get the part how did you upload the codes to the hexa code is is like arduino or what i just didnt get that part

@SirKuhnhero

2 ай бұрын

For the Microcontroller I used an STM32, which I programmed using an ST-Link and the PlatformIO addon for VS Code.

Hello, please tell me how to charge your Haxapod?🤔

@SirKuhnhero

3 ай бұрын

I made a simple y splitter between the battery and the power converter. I can unplug the batter and charge it with my lap bemch power supply or alternativly charge it while the Hexapod is running. Hope this helps :)

Can you suggest a replacement for hx-2s-jh20 BMS which you have given in ur list on instructables (2:16 ) That module is not available in my area

@SirKuhnhero

3 ай бұрын

I don't know where you live, so I don't know what modules are available. But any 2s BMS should work fine if it is rated for something like 20A of current. Just make sure it also balances the cells (most should do that though).

@jashjain3183

2 ай бұрын

I live in india , mumbai and everywhere it is out of stock . So Hx-2s-D20 is available should i use that ?

@jashjain3183

2 ай бұрын

And can i use mgn995 instead of mgn996 ?

@jashjain3183

2 ай бұрын

Thanks for replying

@jashjain3183

2 ай бұрын

Sorry for asking so many questions 😅

why all the leg are still folded since every servo in existence allow 180 to 270 degree freedom ?

@SirKuhnhero

4 ай бұрын

I made sure to assemble the legs with each servo fist being moved to the center position (90 if the servo range is between 0 and 180). Since I also assembled it with each joint having a 90 degree angle I have enough movement in the Servo :)

@omnianti0

4 ай бұрын

@@SirKuhnhero so you wasted 90 in the worst position possible leting it folded all the time ?

When i am uploading code in the stm32 using stlink it is not uploading and showing this error OpenOCD init failed and on devices my stm32 is not being detected so is my stlink npt working properly ??

@SirKuhnhero

2 ай бұрын

I have honestly no idea. Every time I get one of those errors I end up fixing it without really knowing how. I just Google stuff until it works again.

@preetijain5828

2 ай бұрын

@@SirKuhnhero how did you upload the upload the code using st-link or FTDI programmer and if you have used an FTDI programmer can tell the exact module

@SirKuhnhero

2 ай бұрын

I used both at some point. I don't really know the exact module, but YP-05 is written on the back. It's one of those red boards that you see everywhere. Don't know if that answers your question. Sorry, I can't be of more help.

@preetijain5828

2 ай бұрын

@@SirKuhnhero it helped

@preetijain5828

2 ай бұрын

@@SirKuhnhero i just to need to ask one more question did you flash the bootloader or you always connect the stm32 to that module and then to you pc and then upload it

this is so cool. how much does it cost in total?

@henry1285

8 ай бұрын

ok i saw it.

8:00 Debug via LEDs in Binary oh god 😂

@SirKuhnhero

6 ай бұрын

Yea that was a pain. But better than nothing :)

Wait you can use vs code to program an ar🤯

@SirKuhnhero

7 ай бұрын

What you mean with "ar"?

@themanthelegend7048

7 ай бұрын

@@SirKuhnhero arduino i meant.

@SirKuhnhero

7 ай бұрын

It was honestly a supries for me too when I first found out a few years back. Can't imagine how I got things done before.

@themanthelegend7048

7 ай бұрын

@@SirKuhnhero oh man you ready for a minblowing trick? Next time you copy/paste hit windows + v instead of ctrl+v. Once activate it will store your last 20 copies for pasting. Ctrl+v still will work and paste last thing copied but wnd+v opens a menu.

@SirKuhnhero

7 ай бұрын

I have just tried it and WOW. I used to copy and temporarily paste into an emty text file but this makes it so much easyer. Thank You so much :)

i think we need a good tutorial for this bc i cant understand most of it

@SirKuhnhero

2 ай бұрын

I don't think I will do something like this for this version. Making a video takes a LOT of time. However I do have Ideas for a v1.1, basically a very similar design but with a few small upgrades, and I might make a full tutorial for that. If you or other people have any Questions I would be more than happy to help you :)

@bavin1780

2 ай бұрын

@@SirKuhnhero thank you so much but i have all the parts exept the LEDs what if i dont put LEDs on the project what should i do ?

@SirKuhnhero

2 ай бұрын

You can just leave them out if you want to. Simply not use the #define for the LEDs in the header.h file. The Hexapod code will ignore everything that has to do with the LEDs

You should not be soldering to the li-ion cells like that, the heat can damage them, the proper way is to spot weld them. Also just shoving cells together in parallel like that isn’t safe, I hope you at least checked the voltages before you did that. Also if you are just printing out of PLA you should be more careful with heat generating components (motors, voltage converters, heatsinks, etc), PLA softens at only 50-60 C. You also use a lot of hot glue and other semi permanent attachment solutions, that will become very annoying if you need to take it apart again, especially when gluing over bolt heads. If your LEDs draw 60 mA each at max brightness and you have 271 LEDs then that is a total of 16 A at full brightness, you will have to run the LEDs at very low brightness if you want that 5 V converter to survive. Good work though.

@SirKuhnhero

6 ай бұрын

Thank you for the input :) You are right. You should not solder directly onto a li-ion cell. However since I got mine from an old e bike battery they still had some nickle strips that where spot welded. When I was soldering to the cell I was actually soldering to those nickle strips. Might have been hard to see. Personally I had no real problems with heat. But I also don't run it for long periods of time. I am also not the biggest fan of hot glue. But I had no real issues so far because everything I need to access regularly is not using hot glue. However I would do something different with the LEDs for the legs. I had to replace a Servo once and it quit annoying. Also you are right about the power consumption of the LEDs. When I first turned it on the buck converter was screaming in pain. However 100% brightness is way to bright anyway. I ended up using it on 1%-3% brightness.

The models?

@SirKuhnhero

8 ай бұрын

You can find the most important Models on Printables and Instructables. I made shure to combine all the models you need to print for a single leg into one .3mf file. That way it is much more convienient. If you also want every model individually take a look at the GitHub repo. There is also some stuff there that I couldn't upload elsewhere. All that is in the Descriptions. Hope this helps :)

Mach eine Schnauze für den Roboter

@SirKuhnhero

8 ай бұрын

That sounds like it would look awsome. Thanks for the idea ;)