WidowX Hexapod MK-IV Kit

Trossen Robotics | A-000000-04882
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The InterbotiX Hexapod MK-IV series has welcomed a new model to the family: the WidowX Hexapod MK-IV, built around a Raspberry Pi 4B microcontroller with no fewer than 18 Dynamixel XM430-W350-T servos that you can control simply with a PS4 joystick!

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WidowX Hexapod MK-IV Kit: controlled through to the tips of its toes

Thanks to its 18 XM series servos (Dynamixel’s high-performance and 100% programmable range), this 6-legged creature offers inimitable flexibility and precision of movement:

  • 3 different walking gaits: undulating, tripod or wave
  • Can move while remaining in place
  • Additional programmable gaits possible using its ROS and Gazebo simulation tool
  • Movements you can control remotely with a PS4 joystick
  • Individually addressable and programmable servo motors
  • Can move over rough and uneven terrain thanks to the Python API

A robotics kit for research to be developed on ROS

You can program your WidowX Hexapod MK-IV Kit with the ROS Noetic package (on Ubuntu 20.04) or the ROS Melodic package (if you’re running Ubuntu 18.04). Both packages include all the material you’ll need for your robotic experiments: URDF files, inertial models, Gazebo and MoveIt support, examples of use of each pack, etc.

This mobile robot kit with Dynamixel servos also has its own open-source knowledge base so is fully customisable. In fact, it’s ready to host all the peripherals of your choice to transform your spider into an explorer, fighter or investigator.

Sensors, cameras, IMUs, LiDARs... the particularly capable Raspberry Pi 4B board with its GPIO connectors makes a multitude of configurations possible!

Technical specifications of the WidowX Hexapod Mark-IV kit

  • 3 supported walking gaits
  • Gazebo simulation
  • Python API
  • Raspberry Pi 4B microcontroller:
    • quad-core ARM processor running at 1.5 GHz
    • microSD: 32 GB
    • RAM: 4 GB
    • Bluetooth 5.0 compatibility
    • 2 USB 3.0 ports
    • GPIO headers
  • PlayStation 4 remote control
  • IRROS code structure
  • Payload capacity: 3.6 kg
  • Speed: 178 mm/s
  • Supported systems: Ubuntu 20.04c / ROS Noetic, Ubuntu 18.04c, Melodic
  • Estimated run time (battery): 1 h
  • Dimensions: 190 x 615 x 544 mm


  • 1 assembled Hexapod MK-IV
  • 11.1V 4500 mAh LiPo battery
  • 1 Dynamixel U2D2
  • 1 12V/5A power supply
  • USB2 micro cable
  • 1 battery charger
  • Additional hardware and drivers

Resources for the WidowX hexapod kit

You’ll find all the information you need to launch and develop your WidowX Hexapod MK-IV robotics kit in the following videos, drawings and articles:

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