Skip to content
ShopCommunitySign in
Advanced build

How to build ZeroBug

18-DoF six-legged walker · Advanced

ZeroBug is a GPL-3.0 DIY hexapod with 18 micro servos, an STM32F103 for gaits and IK, and a Raspberry Pi Zero front end that takes mouse, touch or gamepad input.

Start the buildProject files
Difficulty
Advanced

Many actuators, custom wiring and real tuning work.

Build time
1–3 months

Our estimate, part-time

Parts cost
Not published

No cost is published

Degrees of freedom
18

GPL-3.0

What is ZeroBug?

ZeroBug is CoretechR's small printed hexapod. It splits the work between two chips: an STM32F103 runs locomotion and inverse kinematics for 18 micro servos, while a Raspberry Pi Zero handles input from a mouse, keyboard, multitouch screen or Bluetooth gamepad.

The custom board also carries an MPU-6050 IMU and a PCA9685 PWM driver.

STL and STEP CAD, EAGLE PCB files, a production BOM and firmware are all in the repo.

ZeroBug specifications

DoF
18
MCU
STM32F103CBT6
Host
Raspberry Pi Zero
IMU
MPU-6050
PWM
PCA9685

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
Micro servo18
Raspberry Pi Zero1
Custom PCB (STM32F103, MPU-6050, PCA9685, USB-C)1
1×03 servo headers20
Printed body and legs—
Where's the full bill of materials?

The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat Not published as a ballpark. Start at the project repository.

Tools you'll need

  • FDM printer
  • Reflow or fine-pitch soldering
  • ST-Link programmer

Step-by-step build overview

Electronics & wiring overview

The servos plug into headers driven by the on-board PCA9685. The Pi Zero talks to the STM32 on the same board.

Battery packpower sourceLaptop / PChigh-level controlIMUsensingRaspberry Pireal-time controllerServo bus adapterdrivers / bushobby/smart servos18 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

The project ships its own firmware and control code. See the repository for setup.

STM32 locomotion and IK firmware plus the Pi Zero front end (GPL-3.0).

Tips from the bench

  • ☕ The QFN-24 MPU-6050 is hard to hand-solder, so consider PCBA.

ZeroBug FAQ

Why two processors?

The STM32 keeps gait timing deterministic while the Pi handles input and UI.

Sources

Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.

Related builds

Robot deals

All deals →
  • Everblog AI fridge calendar

    Deal · Everblog

    10% off

    Get deal
  • CircuitMess DIY robot kits

    Shop · CircuitMess

    DIY robot kits

    Robot and gadget kits you build yourself.

    Shop
  • GRABO Cordless vacuum lifter

    Shop · GRABO

    Cordless vacuum lifter

    GRABO Pro Brushless: the original cordless vacuum lifter for pavers, stone, glass and panels.

    Shop

Like what we do? Buying through these links supports Bots n' Beans. We earn a commission at no extra cost to you. Thank you!