MiniRHex
Source researched · File/software checks only · Hardware not tested ·
Overview
A six-legged educational robot with printable chassis and legs, Dynamixel motors and Arduino control. [S001] [S002] [S003]
MiniRHex is a small six-legged robot from the Robomechanics Lab for learning about gait and leg design. The documented build combines a printed chassis and legs with six Dynamixel XL330-M077-T motors and an Arduino MKR WiFi 1010. A computer uploads the firmware; the documented serial and local Wi-Fi interfaces provide movement controls. [S001] [S002]
Build files and instructions
This guide selects standard legs. Quick-connect legs are an alternative with additional hubs; mixing the two print lists would give the wrong parts set. The standard configuration has five STL types and seven printed pieces: one body, two front/rear left legs, two front/rear right legs and one middle leg for each side. [S002] [S003] [S091]
- Download the pinned source archive, including CAD, assembly images and firmware.
- Open the purchased-parts BOM, STL directory and print manifest with quantities and individual download links. A spreadsheet-ready CSV is also available.
- Follow the illustrated assembly and motor-ID instructions. The source specifies PLA, 15–20% body infill and 100% leg infill with build-plate supports. It also calls for traction coating on the legs. [S003]
- Read the software installation and operating instructions, then open MiniRHex.ino and its adjacent source files. Set the board to Arduino MKR WiFi 1010 and configure the six motor IDs before the movement test. [S001] [S003]
Firmware compiles; walking remains untested
The unmodified firmware at this revision compiled for arduino:samd:mkrwifi1010 with SAMD core 1.8.14. The public check receipt records the exact library versions, 80,044 bytes of flash and 7,880 bytes of RAM. No firmware upload, physical assembly or walking test was performed. This result establishes a working compiler configuration, not the robot's mechanical fit or performance. [S090]
Budget and remaining checks
The upstream BOM lists USD 286.51 as of December 28, 2024. It includes an approximate PLA allowance, but some supplies are sold in quantities covering multiple robots. Treat it as a historical planning figure, not a current single-robot checkout: destination shipping, taxes, host computer, printer, tools and labor still need accounting. [S002]
Follow the assembly guide's power arrangement: the battery connects through the specified 5 V regulator, not directly to the Arduino shield. Verify the selected parts, wiring and motor positions before upload. [S003]
The repository makes CAD, firmware and documentation available. Its root license contains BSD-style software terms; this profile does not establish manufacturing rights for every CAD artifact or source availability for purchased electronics. Those questions are separate from the successful firmware compile. [S004] [S002]
Specifications
| Detail | Description |
|---|---|
| Type | Six-legged walking robot Reported by source [S001] [S002] [S003] · Checked 2026-09-30 |
| Intended users | Robotics students; Teaching labs; Builders exploring legged locomotion Editorial assessment [S001] [S002] [S003] · Checked 2026-09-30 |
| Assembly | Illustrated instructions cover printed parts, traction coating, wiring, servo alignment and leg mounting. Reported by source [S001] [S002] [S003] · Checked 2026-09-30 |
| Calibration | Set servo IDs 1–6 for the documented leg positions and align horns before attaching legs. Reported by source [S001] [S002] [S003] · Checked 2026-09-30 |
| Operating system | Not known |
| Computer needed | A USB-capable computer running the Arduino development environment for compilation and upload; phone or computer for the documented Wi-Fi controls. Reported by source [S001] [S002] [S003] · Checked 2026-09-30 |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Cost
| Version | Price |
|---|---|
| Standard MiniRHex historical upstream parts estimate (December 2024) | USD 286.51 [S002] Parts estimate |
US-linked upstream suppliers; destination unspecified · Checked 2026-09-30
| Included | Six motors; Arduino and shield; Listed power and assembly supplies; Approximate PLA allowance |
|---|---|
| Not included | Host computer and printer; Tools and labor; Destination shipping and taxes not established |
| Stock | Stock, package quantities and current supplier prices not re-quoted. |
| Delivery and tax | Not established for a destination. |
Price details
Upstream labels this as one robot as of 2024-12-28; several supplies are sold in multi-robot quantities. Do not interpret as a fresh single-unit checkout.
US-linked upstream suppliers; destination unspecified · Checked 2026-09-30 · Quantity 1
Printer, host, tools and destination procurement reconciliation.
Source files and licenses
CAD, printable geometry, assembly and Arduino firmware are available. Purchased electronics and artifact-specific manufacturing rights remain separate checks.
| Layer | Availability / license |
|---|---|
| mechanical design | available · License not fully assessed Root license uses software language; do not infer hardware manufacturing clearance. [S001] [S003] [S004] |
| electronics | not found · License not fully assessed The reviewed MiniRHex repository and parts list specify purchased Arduino, shield and servos; complete electronic design sources for that component set were not established in this scope. [S002] |
| firmware | available · BSD-3-Clause Original notices retained; purchased component firmware is outside this source scope. [S001] [S003] [S004] |
| software | available · BSD-3-Clause Original notices retained; purchased component firmware is outside this source scope. [S001] [S003] [S004] |
| documentation | available · License not fully assessed Original notices retained; purchased component firmware is outside this source scope. [S001] [S003] [S004] |
Not required for the documented Arduino walking-control route.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · Robomechanics Lab
MiniRHex overview and software setup
Accessed 2026-09-30 · Pinned source / audit snapshot, September 30, 2026Source notes
Educational six-legged Arduino-controlled robot with documented software setup and movement controls.
- S002 · Robomechanics Lab
Purchased and printed parts list
Accessed 2026-09-30 · Pinned source / audit snapshot, September 30, 2026Source notes
Standard-leg parts and print quantities; historical USD 286.51 estimate dated December 28, 2024.
- S003 · Robomechanics Lab
Assembly and motor configuration
Accessed 2026-09-30 · Pinned source / audit snapshot, September 30, 2026Source notes
Printed-parts preparation, traction coating, mechanical and power assembly, servo alignment and IDs.
- S004 · Robomechanics Lab
Repository license
Accessed 2026-09-30 · Pinned source / audit snapshot, September 30, 2026Source notes
Root BSD-style software license; artifact-specific mechanical manufacturing scope remains a separate check.
- S090 · Open Source Robotics
Build-file and software-check receipt
Accessed 2026-09-30 · Pinned source / audit snapshot, September 30, 2026Source notes
Public receipt of the limited file/software checks, exact environment and untested hardware scope.
- S091 · Open Source Robotics
Configuration-specific print-file manifest
Accessed 2026-09-30 · Pinned source / audit snapshot, September 30, 2026Source notes
Configuration-specific print-file paths, quantities where reconciled, immutable upstream download links and SHA-256 hashes.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1
Change history
2026-09-30 — Added configuration-specific build resources, print-file manifests and scoped software-check evidence; physical testing remains unperformed.