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[Submitted on 22 Sep 2026] Title:Spiderbot: An Open-Source Energy-Efficient Hexapod with Passive Gravity Compensation View a PDF of the paper titled Spiderbot: An Open-Source Energy-Efficient Hexapod with Passive Gravity Compensation, by Ritwik Sharma and 2 other authors View PDF HTML (experimental) Abstract:Hexapod robots can achieve static stability with fewer actuated joints than bipeds or quadrupeds, yet many platforms still use 3-DOF legs, increasing weight and continuous torque requirement with limited gain in locomotion capability on flat, inclined and moderately rough terrains. We release Spiderbot, an open-source hexapod that uses a 4-bar linkage with a passive spring to mechanically support body weight, with a 2-DOF per-leg design that substantially reduces energy consumption. This mechanism substantially offloads gravitational torque during standing stance consuming only 1.5W (reduction of over 90\% over the unsprung version and up to 96\% over other similar hexapods). The passive spring compensation extends to payloads of up to 3.25kg with no additional torque requirements. The platform enables long-duration deployments on a modest battery budget and costs under \$400, making it suitable for large-scale multi-agent experiments. We validate the locomotion capabilities of the platform with an RL policy trained in mjlab, including successful sim-to-real transfer, despite the complexity of the mechanism. The platform is evaluated on flat and rough terrains, slope up to $15^\circ$ and step obstacles. We release all the CAD files, assembling instructions, and full training and deployment code along with the model checkpoints at this https URL. Comments: 8 pages Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2609.26989 [cs.RO] (or arXiv:2609.26989v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.26989 arXiv-issued DOI via DataCite (pending registration) Submission history From: Vimarsh Shah [view email] [v1] Tue, 22 Sep 2026 19:30:39 UTC (10,484 KB) Full-text links: Access Paper: View a PDF of the paper titled Spiderbot: An Open-Source Energy-Efficient Hexapod with Passive Gravity Compensation, by Ritwik Sharma and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)