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This eight-legged walker uses two DC gear motors to drive linked legs inspired by Theo Jansen’s mechanism—not one servo per leg. Mert Kilic’s project includes printable parts, assembly guidance, motor-control code, and IR remote control. It presents a combined ATmega328P/L293D board, while noting that an Arduino with a motor-driver shield can be used instead.
How the octopod works
The robot’s printed linkage converts rotation from two motors into walking motion across eight legs. The motors power the leg assemblies mechanically; the controller and motor driver manage the motors, while an IR receiver lets the operator send commands. This is a Jansen-inspired design, not a claim that it reproduces every feature of Theo Jansen’s full-scale Strandbeests.
Kilic describes the motion as “smooth and balanced.” That is the project author’s qualitative description, not a measured performance result. The available project documentation does not establish a controlled comparison, reliability rate, or independently verified walking performance.
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Printed components
Kilic reports 79 printed pieces: 55 main components approximately 3 mm thick and 24 clip washers. He says the parts took about six hours to print on a Bambu Lab A1 using standard/medium quality. Those are figures from his setup, not a universal print-time estimate; printer, settings, material, and file revisions can change the result.
#1 Best Overall
- Flexible Robot: Each of the six legs has three motors, and each motor is controlled independently (Assembly required) (Battery NOT included)
- Easy Programming: The prewritten code library allows you to control the robot with just a few lines of code (Provides examples)
- Detailed Tutorial: Provides step-by-step assembly guide and complete code (The download link can be found on the product box) (No paper tutorial)
- Control Methods: Controlled wirelessly by remote (NOT included in this kit, there is another purchase option that includes it), your Android phone or tablet, iPhone (with Freenove App) and computer (run Windows, macOS or Raspberry Pi OS)
- Battery NOT Included: Please refer to the downloaded tutorial to buy
The project page lists STL files for the base, upper chassis, sides, legs, joins, drive axle, main axle, motor axle, and clip washers. It also provides a schematic/layout, bill of materials, and motor-control code. Consult the project’s current files and bill of materials before printing or purchasing: the reported piece counts alone are not a complete shopping list. See Kilic’s project page and downloads.
Mechanical and control hardware
- Motors: two small DC gear motors. The project describes them as usually operating around 5–6 V and approximately 200–255 RPM; treat that as the author’s component guidance, not a verified specification for every motor in this category. Match the motor voltage, gear ratio/RPM, shaft, and mounting to the files and circuit.
- Fasteners: the instructions list 18 bolts and four nuts, and specify M3 12 mm, M3 25 mm, M3 20 mm, M3 16 mm, and M2 12 mm fasteners. Verify the quantities and locations against the current BOM and assembly materials.
- IR control: an IR remote and receiver are documented; the receiver is identified as a 38 kHz 1838B module. The project gives example signal-pin assignments and steps for adjusting the code.
- Controller and driver: the presented board combines an ATmega328P microcontroller, an L293D motor driver, and a CH341 USB programming chip. The author says an Arduino board plus motor-driver shield can be used as an alternative; that does not mean arbitrary boards or shields are wired identically.
Check the battery description before buying
The project calls its battery a “3S 7.4-volt Li-Ion battery.” That wording is potentially inconsistent: “3S” means three cells in series, while 7.4 V is commonly associated with a two-cell lithium-ion pack’s nominal voltage. The project text does not resolve the actual pack chemistry and voltage or provide enough electrical detail to select a replacement safely. Check the pack label and the circuit’s voltage requirements rather than using that phrase as a purchase specification.
Rank #2
- 【ESP32 Controller & Arduino Programming】miniHexa is an open-source AI hexapod robot powered by ESP32 and fully compatible with Arduino programming. It features precise motion control and multiple expansion ports, making it ideal for function upgrades and secondary development.
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Assembly and setup
The project documents a staged build rather than a single-piece print-and-run assembly. Follow its diagrams and current files for exact orientation, fit, and wiring; the outline below reflects the documented sequence, not a substitute for those instructions.
- Print and identify parts. Use the project’s STL set and check the BOM for the current file version, quantities, and hardware.
- Build the chassis. Assemble the base, upper chassis, and side components as shown in the project instructions.
- Mount the motors and drive parts. Fit the two gear motors and the relevant drive axle components. Confirm shaft and mounting compatibility before fastening.
- Join and install the legs. Assemble the linked leg pieces, then fit the leg assemblies to the chassis with the specified joins, axles, and clip washers.
- Wire the controller and IR receiver. Use the project schematic and its example signal-pin assignments. If substituting an Arduino and motor-driver shield for the combined board, adapt the wiring and code to the actual hardware rather than assuming pin-for-pin equivalence.
- Configure and upload the code. Apply the project’s code-adjustment steps for the receiver signal pin and control setup, then upload the motor-control code using the board’s programming interface.
- Verify power and movement cautiously. Confirm the battery pack and motor-driver supply requirements from the actual components and circuit before powering the assembled robot. The project’s ambiguous battery phrase is not sufficient to establish a safe replacement.
How this design differs from related projects
Two other public references are useful for understanding alternative approaches, but neither is a drop-in replacement for Kilic’s octopod files. Their designs differ in mechanics, electronics, and documentation.
Rank #3
- Hands-On STEM Robot Learning---This STEM robot kit combines coding, electronics, and robotics into a fun, hands-on learning experience. Powered by an ESP32 controller and guided by 16 story-based tutorials, this robotics kit for kids helps children ages 8–12 and 12–16 build real-world STEM skills. Ideal for robotics for kids, classroom teaching, or at-home learning.
- 3 Programming Languages for All Skill Levels---This coding robot kit supports Scratch, Arduino, and Python, making it suitable for beginners and advanced learners alike. Scratch block coding is perfect for younger kids and first-time coders, while Arduino and Python support deeper learning for teens and tech enthusiasts. A flexible programmable robot designed to grow with students.
- Mobile-Friendly Coding – Learn Anytime, Anywhere---Unlike many traditional robot kits, this robotics kit supports programming on computers, laptops, tablets, and mobile devices like smartphones and iPads. Kids can code directly on mobile devices, making it especially suitable for schools, training centers, and self-learning at home. A practical STEM kit for kids in modern learning environments.
- Build Your Own Robot – Beginner-Friendly DIY---This robot building kit includes HD videos and illustrated step-by-step instructions, allowing kids to assemble the robot independently or with parents. No soldering required. The building process strengthens hands-on skills, patience, and confidence—making it a strong choice among STEM toys for kids and engineering kits for kids. Tutorial path: ACEBOTT Official Website → Resources → WIKI & Assembly Video Note: Batteries not included.
- App & Remote Control for Interactive Learning---Control the robot using the smartphone App (iOS & Android) or the included IR remote. Kids can instantly see how their code affects movement and behavior, reinforcing core coding logic. This robot kit keeps learning engaging while remaining easy to use for beginners.
| Project | Mechanism and scale | Motors and control | Files and fit |
|---|---|---|---|
| Kilic’s 3D-printed octopod, project page published December 25, 2024; file update record December 29, 2025 | Eight-legged, Jansen-inspired printed walker. | Two DC gear motors; combined ATmega328P/L293D board shown, with Arduino plus motor-driver shield described as an alternative; IR control. | Page lists STL parts, schematic/layout, BOM, and motor-control code. Use its own parts and assembly documentation. |
| Arduino ClearCrawler, Arduino Team article July 23, 2019 | Jansen-inspired eight-legged walker, with four legs on each side. | Pair of motors; onboard Arduino Nano and L298N driver. An Uno/joystick shield serves as the user interface, with two nRF24L01 radio modules. | Separate maker build. Its parts, radio arrangement, and electronics are not specified as compatible with Kilic’s design. See Arduino’s ClearCrawler article. |
| ClearCrawler follow-up, Arduino Team article December 3, 2019 | Described as just over 15 inches tall including its head. | Again describes paired motors, onboard Nano, Uno/joystick remote, and nRF24L01+ radio. | Links code and mechanical/electronics build videos; it is not a controlled performance comparison. See Arduino’s ClearCrawler follow-up. |
| Strandbeest Forge repository, inspected October 4, 2026 | Parametric OpenSCAD project for generating a Jansen linkage and printable STL parts; README describes a single-degree-of-freedom linkage, crank phasing across multiple legs, adjustable linkage lengths, and M3 pin bores. | README describes the linkage model; a comparable controller/motor package is not stated. | Separate design-learning and printable-linkage project, not a source of drop-in parts for this octopod. The repository states MIT licensing. See Strandbeest Forge on GitHub. |
These descriptions do not establish which robot walks better or is easier to build; that would require comparative testing. Before combining parts or code, compare linkage geometry, actuator and gearing, remote-control method, file completeness and licensing, pin/fastener dimensions, and the wiring and code supplied for each project.
Quick Recap
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- 4-in-1 Modular Robot Car for Endless Builds – Includes the base robot car (QD001), tank track expansion (QD004), and robotic arm kit (QD007), letting kids build multiple robot styles. Create a robotic arm car to grab and move objects, a tank robot for outdoor adventures, or combine both into a robotic arm tank. This versatile robotics kit for kids encourages creativity, hands-on STEM learning, and problem-solving—perfect for home learning, classrooms, and STEM training programs.
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Rank #4
- Arduino Programming, Open Source: miniArm is built on the Atmega328 platform and is compatible with Arduino programming. The programs for miniArm are open-source, and learning tutorials and secondary development examples are available, making it easier for you to develop your robotic hand.
- High-Performance Hardware, Support Sensor Expansion: miniArm is equipped with a 6-channel knob controller, Bluetooth module, high-precision digital servos, and other high-performance hardware. Moreover, it provides multiple expansion ports for sensor integration, including ESP32 Cam, accelerometer, touch sensor, glowy ultrasonic sensor, etc., empowering users to engage in secondary development for sonic ranging and pose control capabilities.
- Versatile Control Options: miniArm supports app control, and users can utilize knob potentiometers for real-time knob control and offline action editing.
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