Rhoeby Hexapod


A fully functional ROS-enabled, navigation capable hexapod robot.

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Our ROS-enabled, navigation capable hexapod robot. Available as either a basic kit (no LiDAR, etc.), or as a fully-loaded robot. Optional assembly service offered.

Basic Hardware Used:

  • Robotis Bioloid “Spider” chassis (with optional custom legs)
  • CM-904 robot controller
  • High capacity battery (3600 mAh)

Fully loaded:

“Fully-loaded” features:

  • LiDAR Scanner (YD LiDAR X4)
  • MinIMU gyro/accelerometer (9 DoF)
  • Raspberry Pi 3B
  • Custom rubber feet

The fully-loaded robot operates completely autonomously.

Software Features

The software features of this robot include:

  • 3-DOF Inverse Kinematic leg control
  • Holonomic-capable gait
  • Odometric feedback
  • ROS node for robot control

The Rhoeby hexapod uses the Robotis CM-904 for the robot controller, and this inter-operates with ROS over bluetooth via our open-source driver. For IMU, the hexapod uses MinIMU. On the basic version, the navigation heavy-lifting is executed “in the cloud” (ie. on a remote laptop, not included).

On the Fully-loaded version, the robot is completely autonomous. In conjunction with a standard ROS navigation suite install, users can build and run the hexapod driver, and publish the “cmd_vel” topic to control the hexapod (eg. for teleop). Beyond that, all procedures are standard practices using the gmapping, AMCL and move_base packages.

* Exact specification is subject to change


Getting Started document here: Rhoeby_Hexapod_Getting_Started.pdf

Open-source ROS driver here:: https://github.com/Rhoeby/hexapod_ros

Additional information

Weight 8 lbs
Dimensions 16 × 16 × 11 in
Basic / Fully-Loaded:

Basic, Fully-Loaded

Kit / Assembled:

Kit, Assembled


For exciting videos of our robots, navigate to our videos page:


With Rhoeby Dynamics robots, you will be up and running in no time!


For thorough, step-by-step, easy-to-follow tutorials, visit our tutorials pages:


With Rhoeby Dynamics robots, you will be up running in no time!

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