PhantomX Hexapod MK-IV

Item number: MBS-TR-09

The PhantomX MK-IV Hexpod is suitable for versatile applications:

  • Autonomous robot
  • Display of motion sequences
  • Competent overcoming of various obstacles

Category: Hexapod


starting from 2.866,95 €

including 19% VAT. , plus shipping

Available now!

There are variations of this item. Please select the variation you wish.


The PhantomX Hexapod MK-IV is the latest model of the six-legged TrossenRobotics platforms, which allows modifications in all aspects. The MK-IV can be supplied with or without an outer shell and, like its predecessor, is launched as an open source platform.

The Dynamixel X smart servos

With Dynamixel's smart servo motors, the MK-IV offers features that can only be found in industrial motors in this form - and at a multiple of the MK-IV price.


All actuators have individual IDs, allowing the user to easily communicate between and with the different servo motors. In addition, the Shadow ID function allows easy control of a second actuator in double servo joints.


Dynamixel actuators have the special feature of being connected in a daisy chain with the next actuator. These so-called daisy-chains make them extremely scalable and simplify maintenance of the individual units.

Servo Management Software

Dynamixe Wizard 2.0 allows the user to configure register settings such as PID gains and control modes (position, velocity, current or PWM) on their own. The software also includes tools for firmware updates, diagnostics, testing, data plotting and other configurations.

Trajectory Smoothing

The intelligent dynamixels have multiple registers for setting velocity and acceleration limits, PID gains and more synonyms for fine-tuning smooth joint movements.

Portfolio of low-level libraries

DYNAMIXEL actuators feature libraries that abstract the serial communication layer, allowing designers to focus their time on higher-level coding.

Technical data

  • Gazebo simulation
  • Python API
  • Raspberry Pi 4B with 4g Ram
  • Playstaton 4 Remote Control
  • IRROS code structure

Scope of delivery

  • 1 x HEXPOD MK-IV
  • Lipo 4500mAh Battery
  • 1x 12v5a power supply
  • 1x USB2 micro cable
  • charging cable
  • Driver / Additional Hardware
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