Raspberry Pi-Powered FPV Scorpion

Normal scorpions have eight legs, along with a distinct stinging tail. This little mechanical ScorPIon robot by Hannu Hell features only four legs, but it does have a prominent tail, used here for taking video instead of stinging.

The robot is certainly cute, and its “scorPIon” moniker is a clever play on its Raspberry Pi Zero W controller. The Pi gives it the ability to interface with a smart device via Bluetooth or Wi-Fi for control, and it can stream video from its tail for FPV capabilities. It uses a dedicated UPS battery supply for the Raspberry Pi, while servos are powered by a 7.4 V 1300mAH LiPo Battery. This dual-battery setup is somewhat optional, but it mitigates a few hassles.

For movement, each leg features two servos/degrees of freedom, enabling the ScorPIon to walk and turn in any direction, and even dance. The tail also features two servos, allowing for precise camera positioning, while producing a pleasing movement when adjustments are made.

The Pi calculates leg movements based on inverse kinematics and stable three-legged positions. Direct servo interface is facilitated by a 16-channel 12-bit PCA9685 PWM module that communicates via I2C.

The robot’s mechanical parts are 3D-printed, including the legs, base, and tail. There’s even a nice cover that goes over the Pi hardware to make it look a bit more finished/cute. Code and 3D files are available on GitHub, and the build looks like a fun and approachable walking robot project!