BH3 3DoF Hexapod

Last modified by Eric Nantel on 2023/02/21 12:23



Table of Contents


About the BH3 Walking Robot
The BH3 robot offers the most advanced leg design available today. The three DOF (degree of freedom) leg design means this robot can walk in any direction! The robot uses 18 Hitec HS-475 / HS-485 servos for the legs. The combo kit includes everything you need to make a functional robot except batteries. This is a sophisticated implementation of the traditional inline hexapod design.

The Mechanics
The robot is made from ultra-tough laser-cut Lexan structural components, custom injection molded components, and high-quality aluminum Servo Erector Set brackets.

Controlling the Robot
Several versions of the BH32 are available. By offloading the servo pulse generation and sequence movement timing to the SSC-32 (strongly suggested for all multi-legged robots), your microcontroller has plenty of power to do some really cool things. The current program (written by Laurent Gay) allows the robot to walk with variable speed, in any direction (translation), or turn in place (rotation), or any combination of the two. The leg lift and ride height is adjustable as well as the gait walking speed. There are preset walking modes for tall grass, tile floor, low profile and normal operation. You can rotate the body in every axis. There are also preprogrammed poses and a sleep mode, All of these are accessible from the controller. Everything is included except the Play Station game controller. 

Powering Options
The robot is compatible with the following batteries and chargers.
    > NiCad & Ni-MH Universal Smart Charger (USC-01)
    > 6.0 Volt Ni-MH 1600mAh Battery Pack (BAT-03)
    > 6.0 Volt Ni-MH 2800mAh Battery Pack (BAT-05)

To keep costs down we are not providing printed Assembly Guides. They are provided online, so you will need to print them when you order the kits. By providing the Assembly Guides online we can provide more detailed and up to date information than the old hardcopy method allowed.


  • Servo motion control = local closed loop
  • Steering = omnidirectional
  • Number of legs = 6
  • Degrees of freedom per leg = 3
  • Motion speed = 10"/S
  • Height (body) = 2.00"
  • Height (overall) = up to 6.25"
  • Width (body) = 3.50"
  • Width (overall) = 14.00"
  • Length (body) = 13.00"
  • Length (overall) = 14.50"
  • Weight (w/out batteries) = 4lb 2oz.
  • Ground clearance = up to 4.00"

User Guide


BH3 Information

Additional Information

Created by Eric Nantel on 2023/01/25 13:55
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