The easy no-solder path relies on RookiDroid's own controller board, and its PCB files are not free.
A family of 3D-printed, 18-servo hexapods from RookiDroid that share one ESP32 firmware and differ in frame size and servos. The mid-size Mochi uses MG92B micro servos and two 18650 cells, and walks under phone control over WiFi with browser-based servo calibration. A computer can also stream joint poses to it live.
At a glance
| Parts cost | $350 estimated How Estimated for this page from current retail prices (2026-10-02) of the parts in the project parts list source ↗ Build priced Mochi with the RookiDroid ESP32 controller board (board + battery holder + switch) Not included 3D printing (PLA/PETG plus TPU feet), tools, shipping, tax; 18650 charger |
|---|---|
| Difficulty | 2/5 Easy · No soldering with the ready-made board, a clear guide and web calibration, though 18 servos make assembly long. |
| Build time | 8-12 hours including printing, assembly and calibration source ↗ |
| Tools needed | 3D printer (all frame parts; TPU for feet), hex keys and small screwdriver, soldering only if building a custom wiring harness |
| Motors | 18 MG92B micro servos (Nougat uses 21G digital servos, Macaroon 25 kg servos) |
| Controller | ESP32 on a carrier board with two PCA9685 drivers (legacy Raspberry Pi Pico W option) |
| Sensors | None |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✗ Video GitHub README build guide per robot (parts list, print settings, animated assembly steps, calibration, troubleshooting) + Bambu Studio project |
| Activity | Last update 2026-10-02 · 135 GitHub stars · 22 forks; GitHub issues answered by the author |
| Kits | Controller board and battery holder sold by RookiDroid; no full kit |
Licenses
| Design files | GPL-3.0 (STL and 3MF files are in the same repo); controller PCB design files are sold separately source ↗ |
|---|---|
| Code | GPL-3.0 source ↗ |
| Documentation | GPL-3.0 (README build guides in the same repo) source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- The controller board is a RookiDroid product, and its PCB design files cost a few dollars on the RookiDroid store rather than sitting in the repo. source ↗
- MG90S servos need the printed spacer to sit properly and some need an extra small raiser, while MG92B servos fit without one. source ↗
- The author acknowledged the earlier servos were somewhat weak and released an updated version, so older remixes and videos may show a different servo choice. source ↗
- An early wiring diagram gave the wrong I2C address for the second PCA9685, which left half the legs dead until it was corrected. source ↗
- The Raspberry Pi Pico firmware is kept only as a legacy option and is no longer maintained, so ESP32 is the supported path. source ↗
Other hexapods plans
- Vorpal The Hexapod · $250 · difficulty 2/5
- MakeYourPet hexapod (Chica) · $590 (2022) · difficulty 3/5