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Hexapod "Gilbert300" : Arduino Mega 2560 based 3d printed 6 legs robot

by McKraken Jun 13, 2015
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Sorry but I need parameters about this spider

Hi Philippe -

Awesome design. It's on my short list of things to print.


  • What switch do you use in the foot?
  • What US sensor are you using?
  • Is there a sketch available for the arduino?
  • Are you using PLA, ABS or some other filament?

Hi Degreaser,
Concerning the switch and the US sensor, pictures are attached in my item http://www.thingiverse.com/thing:794663 (see at the end of the pictures list).

  • US sensor : HC-SR04
  • switch : a little push-button
    Concerning the sketch available for the arduin, one can find an "arduino" version of "Phantom" code (I didn't try this code and don't know how it works). I did write my own code.
    Gilbert is made of PLA.
    One detail concerning the flange: I replaced the PLA ones with aluminium ones, bougth on Ebay. PLA ones are too weak.
Hexapod robotic leg with MG995 / MG996R servo, standard bracket and forks, ball-and-socket foot connection, foot switch and us sensor

Hi Alan !
Congratulations for your nice hexapod !
It is a strange feeling to watch another Gilbert300 walking.
Thank you for your video.
Yours is more colored than mine.
I'm working on the modification of my Gilbert300 to add a servo controller like on your Gilbert300.
I hope it will "smoothen" his walk.
Did you plug ultrasound sensors ?
Is it made of PLA or ABS ?
I will let you know the improvements of Gilbert300 as soon as I wille find time to developp them...
Best regards and welcome Gilbert300 #2 !

Hi Philippe,
Sorry for late reply.
I have installed 4 ultrasonic sensors. But, not yet connected and programmed. Will do it later.
It is made of ABS.

Let's continue.


Hi Philippe,

I have successfully built a hexapod with your Gilbert 300 model.
I used an Arduino Mega as Main Processing, including IK calculation, PS2 controller interfacing, servo controller commands sending.
I used a separate servo controller.
All the code is written by me.
Talk a look at : https://www.youtube.com/watch?v=aK-_4HzJ_U4&feature=youtu.be

Thanks for your model.


Hi Alan !
Yes, an Arduino Mega2560 is used as the "mainboard" of Gilbert300, that controlls the servos and ensures the main processing.


I would like to ask if you are using Ardunio Mega as both the servo controller and the main processing?



I made some trials connecting 7 US sensors at the same time to an Arduino Mega 2560 (without the servos). It's working quite good.
The number of ports of the Mega 2560 is enough to connect at the same time 18 servos and 6 US sensors. The only one problem is the sampling frequency of the US sensors, that may provoque an irregular gait when continuous sensing. I made the choice to sense only when leg touch-down. I did'nt connect the US sensors to Gilbert300 yet. Before that, I need to simplify the "gait" program, to facilitate the integration of the range sensing functions (i.e. using only the "wave gait" which is a googd compromise between stability, velocity and complexity).
At the present time I'm working on the connection and integration of the switches that ensure the "touch down" sensing.
Integration of US sensing on Gilbert300 function will follow after.
i will post videos as soon as the sensing is operative.
Best regards,

Hi Philippe,

Thanks for your reply. I will try out also. But, it takes time to explore.
I have found out where you put the switches.

Thanks again.


Hi, I like your design. Did you succeed in adding the US sensor in operation?
I am going to make One and would like to add a switch in each leg to sense the touching to the ground.