Arachnobeest - Walking Octopod XRP Jansen Mechanism Robot

Arachnobeest

A lightweight, easy-to-print walking octopod robot based on Jansen linkages. With just a handful of bolts the entire robot can be built and controlled with parts in the standard XRP robotics kit.

Assembly

In Progress

Control Software

This walking octopod can be easily controlled with PestoLink from AlfredoSystems. Once PestoLink has connected to the XRP a gamepad can be used to control the bot.

• https://github.com/AlfredoSystems/PestoLink-MicroPython
• https://pestol.ink/

The default pestolink_example.py can be used. The rotation direction will need to be adjusted for correct movement. It is recommended to change line 20 from:

# incorrect
rotation = -1 * pestolink.get_axis(0)

to:

# correct
rotation = pestolink.get_axis(0)

Required Parts

• XRP Controller Board (https://www.sparkfun.com/products/26619) OR
• XRP Beta Controller Board (https://www.sparkfun.com/products/22727)
• Hobby Motor - Plastic (https://www.sparkfun.com/products/24053)
• Battery Holder with Barrel Connector (https://www.sparkfun.com/products/9835)
• Fasteners
  • 4 x 35mm M3
  • 4 x 40mm M3
  • 28 x 8mm M3
    • 24 of which can be up to 12mm in length in case you have a variety of 8, 10, and 12mm bolts
  • 2 x 6mm M2 (strongly recommended but not required with tight-fitting printed parts, mates drive to Hobby Motor)

Attribution

This legged robot was inspired by the Octopod Robot created by Maker101, shared on PCBWay and featured by HACKADAY. Check out more of their content, it was a great inspiration!

https://www.pcbway.com/project/shareproject/Build_a_Walking_Robot_Theo_Jansen_Style_3D_Printed_Octopod_41bd8bdb.html

https://hackaday.com/2025/01/16/building-a-3d-printed-strandbeest/