🤖 Announcing HexCore-AX: An 18-DOF Hexapod Robot Platform

Robotics
, , , ,
1

:robot: Announcing HexCore-AX: An 18-DOF Hexapod Robot Platform

When six legs are better than two (or four, or wheels)

:mechanical_arm::nut_and_bolt::brain::printer:

I’m building a hexapod. Not a kit, not a tutorial follow-along, but a modular six-legged walking robot designed from scratch for 3D printing, simulation, and real-world deployment.

This is HexCore-AX. Full specs, build docs, and CAD files at hexcore-ax.com.

Here’s what it is, why it exists, and where it’s going.

:mechanical_leg: What Is HexCore-AX?

18 degrees of freedom. Six legs, three servos per leg. Dynamixel AX-12A actuators with position feedback and daisy-chain communication.

Modular design. Every component is independently replaceable. Break a leg bracket? Print a new one. Burn out a servo? Swap it in 5 minutes.

ASA 3D printed or laser-cut aluminum. Your choice. Print it on a Bambu Lab X1C for functional prototyping, or send DXF files to SendCutSend for precision metal parts.

OpenCR 1.0 controller. ARM Cortex-M7, built-in IMU, native Dynamixel support, and ROS2 compatibility. No Arduino workarounds, no external IMU wiring.

ELRS wireless control. ExpressLRS receiver for sub-10ms latency RC control via RadioMaster TX16S. Walk it like a drone.

Scalable geometry. Design scales ±20% while maintaining proportions and servo mounting compatibility.

:brain: Why Simulation Matters

HexCore-AX isn’t just a hardware project. It’s being developed in parallel with NVIDIA Isaac Sim on a dedicated workstation (i9-14900K, 64GB DDR5-6000, RTX 5080 FE).

Test before you build. Walking algorithms, inverse kinematics, and sensor integration run in simulation first. No burned servos, no broken parts, no wasted prints.

Train adaptive gaits. Reinforcement learning models for terrain adaptation using Isaac Gym. The robot learns to walk on stairs, rocks, and uneven ground in simulation, then deploys to hardware.

PhysX 5 dynamics. Accurate servo torque modeling, collision detection, and ground contact simulation. If it walks in Isaac Sim, it walks in real life.

Virtual testing = rapid iteration without hardware risk. Code validated in simulation deploys directly to the physical robot.

:nut_and_bolt: Core Components

  • Servos: 18x Dynamixel AX-12A (TTL daisy-chain)

  • Controller: OpenCR 1.0 (ARM Cortex-M7, IMU, ROS2-ready)

  • Receiver: RadioMaster ER8 ELRS for low-latency RC control

  • Transmitter: RadioMaster TX16S Mark II MAX

  • Power: Spektrum 11.1V 5000mAh 3S 30C Smart LiPo

  • Frame: ASA 3D printed (Bambu Lab X1C) or laser-cut 6061 aluminum

  • Software: ROS2, custom gait library, Isaac Sim integration

:hammer_and_wrench: Build Approach

  1. Design in CAD (Fusion 360, parametric modeling for easy iteration)

  2. Simulate in Isaac Sim (walking algorithms, IK, gait tuning)

  3. Print or cut parts (ASA on X1C, or aluminum from SendCutSend)

  4. Assemble and wire (detailed guide with diagrams)

  5. Upload firmware and calibrate (OpenCR + Dynamixel Wizard)

  6. Deploy trained gaits (simulation-validated code to hardware)

Full documentation, CAD files, and assembly guides at hexcore-ax.com.

:bullseye: Project Goals

  • Modular and repairable. No proprietary parts, no locked ecosystems.

  • Simulation-first development. Virtual testing before physical deployment.

  • Open documentation. CAD, code, wiring diagrams, and build guides publicly available.

  • Community-driven iteration. Share builds, suggest improvements, fork the design.

This isn’t a one-off build. It’s a platform for learning inverse kinematics, gait planning, reinforcement learning, and real-world robotics deployment.

:rocket: Current Status

  • CAD in progress (body plates, leg assemblies, servo mounts)

  • Isaac Sim workstation operational (Ubuntu 24.04, Isaac Sim installed, RTX 5080 FE)

  • Parts ordered (OpenCR 1.0)

  • Parts on hand (Dynamixel servos, RadioMaster ER8 receiver, TX16S transmitter)

  • Website live (hexcore-ax.com)

  • Forum category created (right here in Robotics)

:speech_balloon: Join the Build

This is an open project. If you’re into hexapods, ROS2, simulation, or just want to see a robot walk, follow along.

  • Discuss on the forum (post questions, share your own hexapod builds)

  • Check the website for updates, CAD files, and documentation

  • Suggest improvements (better gait algorithms, part design tweaks, simulation strategies)

Let’s build some robots.