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.

Hardware Used:

  • Robotis Bioloid “Spider” chassis (with optional custom legs)
  • CM-904 robot controller
  • High capacity battery
  • Remote laptop running ROS Kinetic (not included)

“Fully-loaded” features:

  • LiDAR Scanner
  • MinIMU gyro/accelerometer
  • Raspberry Pi 3B
  • Custom metal/rubber foot

Software Features:

  • 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

Basic / Fully-Loaded:

Basic, Fully-Loaded

Kit / Assembled:

Kit, Assembled


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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