Brent Yi

I’m a third-year studying Computer Science at the University of California, Berkeley.

Github  •  LinkedIn  •  Email  //  Coursework

Hexapedal Robot

For our final project in UC Berkeley’s Introduction to Prototyping & Fabrication course, my partner and I designed, built, and programmed an RHex-style hexapedal robot. The design is optimized to cross rough terrain at an extremely low cost (<$70).

Mechanical Design

Mechanical design was done with an emphasis on simplicity: we only needed to fabricate 5 unique parts!

The chassis is constructed out of three pieces of 1/4” plywood, and the motorized leg modules are printed in ABS using a consumer-grade 3D printer.


We couldn’t find any satisfactory off-the-shelf solutions for handling the electronics portions of our robot, so I ended designing a custom control PCB to meet our needs. Features:

To cut costs and reduce complexity, the board was designed to plug into an ATmega328P-powered Arduino Nano microcontroller.


All of the code for our robot was built around the Arduino platform in C++.

It’s made of a few main components:

Potential features for the future:


Source repositories: