Auto-assembled, not yet reviewed

ZeroBug

3D-printed 18-servo hexapod driven by a Pi Zero and STM32, with full CAD and PCB.

Reproducibility73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
ZeroBug open-source 18-DoF hexapod robot, 3D render from ZeroBug.step
main assembly 3D · ZeroBug.step

About ZeroBug

ZeroBug is a DIY 3D-printed micro-servo hexapod. A Raspberry Pi Zero handles the front end and input (mouse, keyboard, multitouch or Bluetooth gamepad) while an STM32F103 runs leg locomotion and inverse kinematics across its 18 servos. The repo ships STL + STEP CAD, EAGLE PCB design files, a production BOM, and firmware.

Licenses

Hardware
GPL-3.0
Software
Not published
Docs
Not published

Degrees of freedom

18 DoF legs 18

Breakdown source

Hexapodsource

How to build ZeroBug

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

  1. Print the structural parts

    Print the body, coxa, femur, tibia and spacer parts, plus the optional claw, from the STL files in the CAD Files folder. Print the sock parts in flexible TPU; they snap onto the legs to prevent slipping.

    Motari summaryhackaday.io/project/180534

  2. Order and assemble the PCB

    Fabricate the hexapod control board from the EAGLE production Gerbers and solder the SMD parts (STM32F103, MPU-6050, regulators) per the schematic.

    Motari summaryhackaday.io/project/180534

  3. Install the 18 servos

    Mount three EMAX ES08A II micro servos per leg. The author found the servo headers with plugs too tall to fit, so the servo cables were soldered to the board.

    Motari summaryhackaday.io/project/180534

  4. Flash the STM32 firmware

    Build and flash ZeroBug.ino to the STM32F103 to run leg locomotion and inverse kinematics.

    Motari summaryhackaday.io/project/180534

  5. Set up the Raspberry Pi front end

    Copy the Raspberry Pi Software (app.py, index.html) to a Pi Zero for control via mouse, keyboard, multitouch or a Bluetooth gamepad.

    Motari summaryhackaday.io/project/180534
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

ZeroBug bill of materials

12 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

ZeroBug parts, as the source lists them (read 2026-06-07). Prices are the source's, not checked against vendors.

ZeroBug bill of materials
PartQtySpecSourceConfidence
Micro servosLeg actuators controlled by the STM32, 3 per leg
18micro servos for hexapod legs
vendor not namedprice not listedCoretechR/ZeroBug README.md line 3
high
Raspberry Pi ZeroFront end and input handling for mouse, keyboard, multitouch, or Bluetooth gamepad
1Raspberry Pi Zero
Raspberry Piprice not listedCoretechR/ZeroBug README.md line 3
high
STM32F103CBT6 MCUController on custom PCB for locomotion and inverse kinematics
1STM32F103CBT6, LQFP48
vendor not namedprice not listedREADME.md line 3 and EAGLE Files/production/bom.csv line 35
high
1x03 servo/header connectorsBoard headers for servo and I/O connections
201X03 through-hole headers
vendor not namedprice not listedEAGLE Files/production/bom.csv line 17
high
USB-C receptacleBoard USB connector
1USB-C-16P
vendor not namedprice not listedEAGLE Files/production/bom.csv line 18
high
MPU-6050 IMUMotion sensor on controller PCB
1MPU-6050-1, QFN-24 footprint
vendor not namedprice not listedEAGLE Files/production/bom.csv line 31
high
PCA9685 PWM controller16-channel PWM driver on the custom controller PCB
1PCA9685, TSSOP28
vendor not namedprice not listedEAGLE Files/production/bom.csv line 32 and EAGLE Files/Hexapod REV1.sch lines 4953, 4222, 5076
high
AP2112K-3.3V regulator3.3 V logic rail
1AP2112K-3.3V, SOT23-5
vendor not namedprice not listedEAGLE Files/production/bom.csv line 33
high
MCP1825S-5002E/DB regulator5 V regulator/power stage
1MCP1825S-5002E/DB, SOT230P700X180-4N
vendor not namedprice not listedEAGLE Files/production/bom.csv line 34
high
PCB passives and support partsCapacitors, resistors, diodes, fuse, switch, crystal, MOSFET, terminal block and support components
10603/0805 passives, BAT20J diodes, PTC-1206, AOD417, 8 MHz crystal, reset switch, terminal block
vendor not namedprice not listedEAGLE Files/production/bom.csv lines 2-30
high
Custom hexapod control PCBBare PCB fabricated from EAGLE board and production Gerbers
1EAGLE schematic/board and production Gerbers provided
self-orderprice not listedEAGLE Files and EAGLE Files/production/bom.csv
high
3D-printed structural parts setBody, leg, gripper and spacer parts with source CAD
1CAD Files/ZeroBug.step plus STL part files
3D print yourselfprice not listedCAD Files/ZeroBug.step and visual evidence
high

Rows from the source's own parts list 39

EAGLE Files/production/bom.csv@e22368bcsv

Source rowQtyPrice and vendorLine
@HOLE0, @HOLE1, @HOLE10, @HOLE11, @HOLE12, @HOLE13, @HOLE2, @HOLE3, @HOLE4, @HOLE5, @HOLE6, @HOLE7, @HOLE8, @HOLE9
14
vendor not listedno price listed
L2
C1
1
vendor not listedno price listed
L3
C10, C11, C14, C15, C2, C8
6
vendor not listedno price listed
L4
C12, C13
2
vendor not listedno price listed
L5
C17
1
vendor not listedno price listed
L6
C18, C9
2
vendor not listedno price listed
L7
C20, C21
2
vendor not listedno price listed
L8
C3
1
vendor not listedno price listed
L9

27 more rows in EAGLE Files/production/bom.csv

README.md@e22368bmarkdown

Source rowQtyPrice and vendorLine
ZeroBug robot architecture
Pi Zero x1; STM32F103 x1; servos x18
vendor not listedno price listed
L3

EAGLE Files/Hexapod REV1.sch@e22368beagle_schematic_xml

Source rowQtyPrice and vendorLine
PCA9685 schematic identity
U2 is PCA9685
vendor not listedno price listed
L4953
PCA9685 schematic package
PCA9685 package TSSOP28
vendor not listedno price listed
L4222
PCA9685 PWM driver label
schematic block label
vendor not listedno price listed
L5076

ZeroBug source files

10 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

ZeroBug in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from CAD Files/ZeroBug.step at e22368b.

Builds of ZeroBug

0 reviewed

No reviewed builds of ZeroBug yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to CoretechR/ZeroBug: 2026-01-28 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: 2026-06-07 CoretechR/ZeroBug source BOM.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain ZeroBug? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 73/100

Markdown
[![Motari reproducibility score for ZeroBug](https://motari.io/api/v1/badge/zerobug-hexapod)](https://motari.io/r/zerobug-hexapod)
HTML
<a href="https://motari.io/r/zerobug-hexapod"><img src="https://motari.io/api/v1/badge/zerobug-hexapod" alt="Motari reproducibility score for ZeroBug" height="20"></a>

Not fully met yet: bom evidence (partial), build instructions (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed