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An open and affordable mini quadruped robot based on ESP32.
| Date | Stars |
|---|---|
| 2026-07-24 | 3694 |
| 2026-07-25 | 3703 |
| 2026-07-28 | 3703 |
| 2026-07-30 | 3703 |
| 2026-08-06 | 3703 |
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# The Sesame Robot Project
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<img width="100%" height="728" alt="sesame-cover" src="https://github.com/user-attachments/assets/f0cc6ad0-135b-4515-8750-900f224ed7ae" />
<p align="center">
<a href="https://www.youtube.com/watch?v=NIgoQVQF_Ng">
<img src="https://github.com/user-attachments/assets/1663e022-0680-4053-97b4-53e669a6f07d" width="49%" alt="tutorial-button">
</a>
<a href="https://discord.gg/XDXkhQd8bC">
<img src="https://github.com/user-attachments/assets/378fcb48-5b12-4b46-9dcb-452432d49913" width="49%" alt="discord-button">
</a>
</p>
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**Greetings, from your new best friend.**
Sesame is an accessible Open-Source robotics project based on the ESP32 microcontroller system, with an emphasis on expression and movement.
This project is designed for makers and engineers of all skill levels! Sesame offers a dynamic platform designed to start working with walking robots.
To build a sesame robot, you will need basic soldering skills, $50-60 in hardware components, access to a 3D printer, and a basic understanding of Arduino IDE.
This repository contains the CAD design files, STL files, build and wiring guides, and the base/expanded firmware for the ESP32-based controller.
There is also some included debugging firmware that may be helpful in getting your Sesame up and running.
## Features
* **Quadruped Design:** Uses 8 servo motors (2 per leg) to achieve roughly 8 total degrees of freedom.
* **Emotive Display:** Features a 128x64 OLED screen acting as a reactive face that syncs with movement.
* **Fully Printable:** Designed entirely for 3D printing in PLA with minimal supports.
* **Network Connectivity:** Connect to your WiFi network for remote control and API access.
* **JSON API:** RESTful API for programmatic control from Python, JavaScript, and more.
* **Conversational Faces:** Expressive emotion library with talk variants for voice assistant projects.
* **Sesame Studio:** New animation composer software to easily create custom movements.
* **Sesame Companion App:** Python application for voice control and advanced interactions.
* **Serial CLI:** Control the robot and trigger animations via a Serial Command Line Interface or the web UI.
* **Pre-programmed Emotes:** Includes animations for Walking, Waving, Dancing, Pointing, Resting, and more.
## Watch the launch video on YouTube
<a href="https://www.youtube.com/watch?v=1UDsWkcQZhc"><img src="https://github.com/user-attachments/assets/710cb5a6-163e-47e7-a294-5e2d2ab07627" width="70%" alt="thumb-youtube"></a>
___
## Getting Started
Follow these steps to build your own Sesame Robot:
### 1. Gather Parts
Check the **[Bill of Materials (BOM)](hardware/bom/README.md)** for a complete list of required electronics and hardware.
* Microcontroller: Lolin S2 Mini (recommended for DIY builds), Sesame Distro Board V3 (Current, pre-flashed, supports Bambu Lab battery), V2 (legacy, USB-only), or ESP32-DevKitC-32E with Distro Board V1 (legacy)
* Actuators: 8x MG90 Servos
* Power: 5V 3A source (USB-C PD for S2 Mini and V2 Distro Board, or battery + buck converter; see BOM for the Bambu Lab 14500 7.4V 800mAh Li-ion Battery option)
### 2. Print Parts
Download the STLs and follow the **[Printing Guide](hardware/printing/README.md)**.
* Designed for PLA
* Minimal supports required
### 3. Build & Wire
Follow the **[Build Guide](docs/build-guide/README.md)** and **[Wiring Guide](dExcerpt of 7,234 characters
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Dorian
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Jay Li
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:245f0efccc706128, topic:robotics, readme:robotics