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Sesame Robot

An open and affordable ESP32-based mini quadruped robot with an OLED face that walks, waves and dances.

  • Quadruped
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @dorianborian (opens in a new tab), from github.com/dorianborian/sesame-robot (opens in a new tab). Pinned to commit d106cbc (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
Apache-2.0 (opens in a new tab)
Software license
Apache-2.0 (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

Sesame Robot, photo from its repository
Photo:@dorianborian (opens in a new tab)Apache-2.0source file (opens in a new tab)

3D preview converted from github.com/dorianborian/sesame-robot at d106cbc, under Apache-2.0. View the original files from GitHub (3.0 MB) (opens in a new tab)

Power
5 V

What it can do

Written by Robotheca from the project's documents.

  • Walks as a quadruped using 8 servo motors, two per leg, for roughly 8 degrees of freedom
  • Shows an emotive face on a 128x64 OLED screen that syncs with movement
  • Runs a built-in web UI and JSON API over its own Wi-Fi access point or local network
  • Plays pre-programmed emotes such as walking, waving, dancing, pointing and resting
  • Can be controlled through a serial command line interface or the web portal

Bill of materials

22 parts
Export parts list (CSV)

22 of 22 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
122nF3–LCSC
2100nF3–LCSC
310nF1–LCSC
43.3uH1–LCSC
5KT-0603R1–LCSC
65.1kΩ2–LCSC
756kΩ1–LCSC
810kΩ4–LCSC
93.5MM-2PIN1–LCSC
10B4B-XH-A(LF)(SN)1–LCSC
11HX 3X4X2-2P-1.6N TACTILE SWITCH2–LCSC
12SolderPad (No Part Required)2––
131uF1–LCSC
14470uF1–LCSC
15SS34_C86782–LCSC
163PIN MALE HEADER8–LCSC
17ESP32-S3-WROOM-1(N16R8)1–LCSC
18AMS1117-3.31–LCSC
19MSTPS563200DDCR1–LCSC
2010uF1–LCSC
21EXPANSION HEADER (No Part Required)1––
22TYPE-C-31-M-121–LCSC

22 of 22 parts have no price in the source, so there is no parts total. Read from hardware/pcb/distro-v2/BOM_Sesame-Distro-V2.csv at the pinned commit.

Build guide

The creator's steps, each with its instructions.

  1. 1Gather parts from the bill of materials
  2. 2Print parts in PLA
  3. 3Build the frame and wire the electronics
  4. 4Flash the firmware via Arduino IDE
  5. 5Create animations with Sesame Studio

The guide appears here as you scroll.

Guide by @dorianborian (README.md), under Apache-2.0.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32-based controller, such as a Lolin S2 Mini or the Sesame Distro Board
  • 8x MG90 180-degree servo motors
  • 128x64 OLED display
  • Power from USB-C PD (5V 3A) or a battery with buck converter
  • Optional Bambu Lab 14500 Li-ion battery pack with rocker switch

Connections

  • Servo signal leads run to the controller data pins, with 30AWG wire for data lines and 22AWG wire for power and ground
  • Shared 5V rail and ground rail are built on a protoboard for hand-wired builds
  • OLED connects to the controller via its SDA and SCL lines
  • Battery leads solder to battery pads on the main board, and the Distro Board uses a screw terminal for battery input
  • Motor connectors plug into numbered headers, with the brown wire aligned to the ground rail