T-Hex 4DoF Hexapod

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


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Table of Contents


About the T-Hex Walking Robot (4DOF version)
The T-Hex robot's body is Mech inspired. The use of offset brackets on the legs provides additional range of movement. The four DOF (degree of freedom) leg design means the robot can walk in any direction, just like the 3DOF version. But the 4th axis really expands the dynamic range of the robot's range of motion! The robot has been designed to use 24 HS-645 servos for the legs. The combo kit includes everything you need to make a functional robot except batteries. It's truly amazing to see in action. This Mech inspired robot is perfect for adding weapons for your local robot competition. This robot design was heavily inspired by the original T-Hex by Kåre Halvorsen (Zenta on the forum). Thanks, Kåre!

The Mechanics
The robot is made from ultra-tough high-quality aluminum Servo Erector Set brackets.

Controlling the Robot
By offloading the servo pulse generation and sequence movement timing to the SSC-32 the microcontroller has plenty of power to do some really cool things. The Phoenix program 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. You can rotate the body in every axis. There are preset walking modes and gaits to choose from. All of these are accessible from the controller. We recommend the wireless PS2 controller (RC-01) to get the robot up and running quickly. The Phoenix code also supports a serial control mode for controlling the robot via a serial connection. The Phoenix code was written by Jeroen Janssen (Xan on the forum). Thanks, Jeroen!

The programming is already done for this robot. You no longer have to be a computer scientist to play with this level of robotics. The control options are: PS2 remote control, Xbee / DIY RC stick radio control, and TTL serial control.

Powering Options
The robot is compatible with the following batteries and chargers.
    > NiCad & Ni-MH Universal Smart Charger (USC-02)
    > 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 6.88"
  • Width (body) = 8.50"
  • Width (overall) = 18.00"
  • Weight (w/out batteries) = 3lb 13oz.
  • Ground clearance = up to 4.63"

User Guide


T-Hex 4DoF Information

Additional Information

Created by Eric Nantel on 2023/01/25 13:53
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