Hexapod Mochi

Meet Hexapod Mochi: a six‑legged, WiFi‑enabled crawler with 18 degrees of freedom and a fresh, circular body that balances weight, simplifies wiring, and improves stability. Mochi is a redesigned evolution of the original Hexapod, pairing robust 3D‑printed mechanics with MG92B metal‑gear servos and a ESP32 control. Drive it from your phone or laptop over its built‑in WiFi access point, push firmware updates over the air, and customize everything from gait to posture.

The 3D‑printed design prioritizes structural integrity through strategic engineering choices:

Layer orientation: Models are oriented to align print layers with load directions, distributing stress along layer length rather than across them to prevent delamination.
Reinforced connection points: Leg segments and servo mounts feature strengthened joints that distribute loads and minimize stress concentrations.
Balanced frame design: The circular body and leg components optimize the weight‑to‑rigidity ratio for stable locomo