https://github.com/dorianborian/sesame-robot
An open and affordable mini quadruped robot based on ESP32.
https://github.com/dorianborian/sesame-robot
hardware robotics walking-robot
Last synced: 4 months ago
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An open and affordable mini quadruped robot based on ESP32.
- Host: GitHub
- URL: https://github.com/dorianborian/sesame-robot
- Owner: dorianborian
- License: apache-2.0
- Created: 2025-11-21T18:30:15.000Z (7 months ago)
- Default Branch: main
- Last Pushed: 2026-02-03T03:24:30.000Z (4 months ago)
- Last Synced: 2026-02-03T17:20:31.122Z (4 months ago)
- Topics: hardware, robotics, walking-robot
- Language: C
- Homepage: https://www.doriantodd.com/sesame
- Size: 120 MB
- Stars: 699
- Watchers: 12
- Forks: 90
- Open Issues: 2
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Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-weekly-robotics - Sesame Robot - ESP32-based low-cost quadruped robot. Locence: Apache 2.0. (Open Source Robots / Quadrupeds)
README
# The Sesame Robot Project
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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.
* **Sesame Studio:** New animation composer software to easily create custom movements.
* **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
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## 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 new builds) or ESP32-DevKitC-32E with Distro Board V1
* Actuators: 8x MG90 Servos
* Power: 5V 3A source (USB-C PD for S2 Mini or battery + buck for both; see BOM for the 2× 10440 Li-ion + 2× AAA holder 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](docs/wiring-guide/README.md)** to assemble the frame and connect the electronics.
### 4. Flash Firmware
Upload the code from the **[Firmware Directory](firmware/README.md)**.
* Requires Arduino IDE
* Configure WiFi AP settings
### 5. Create Animations
Use **[Sesame Studio](software/sesame-studio/README.md)** to visually design poses and sequences for your robot.
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## Software & Firmware
### Sesame Studio
Sesame Studio is a standalone desktop application included in `software/sesame-studio/`. It allows you to:
* Visually pose the robot using a schematic interface.
* Generate C++ code for servo angles automatically.
* Sequence frames into complex animations.
[**> Go to Sesame Studio**](software/sesame-studio/README.md)
### Firmware
The ESP32 firmware (`sesame-firmware-main.ino`) handles the kinematics, face display, and WiFi control interface.
* **Web UI:** Control the robot from your phone via the built-in Access Point.
* **Custom Faces:** Add your own bitmaps (guide in firmware docs).
[**> Go to Firmware Docs**](firmware/README.md)
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## Contributing
This robot is a platform for building new features, cosmetics, tools, and ideas. Since the current firmware is a basic implementation, pull requests are very welcome for:
* Kinematics improvements
* New animations
* Improved Web UI/UX
* Sensor integration (Ultrasonic, Gyro, etc.)
I would also love to see forks of this project with new hardware, software, faces, etc. Be sure to send me a message if you end up building one, and I might feature you on my website or channel!
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## Sesame Complete Build Kit Pre-orders available!
I am excited to announce that, after popular demand, Sesame Complete Build Kits are now available for pre-order!
That's right, your little robot companion just got even easier to build. Each kit includes all the components you need to build a full Sesame Robot. With the included detailed instructions, guides, and resources, this kit is perfect for both seasoned Makers and beginners. Click the image below to learn more.
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*Created by [Dorian Todd](https://www.doriantodd.com/). Need help with your Sesame Robot? Send me a message on Discord, my username is "starphee"*