{"repo":"dorianborian/sesame-robot","free":true,"listed":false,"github":"https://github.com/dorianborian/sesame-robot","clone":"git clone https://github.com/dorianborian/sesame-robot.git","description":"An open and affordable mini quadruped robot based on ESP32.","language":"C","stars":3955,"topics":["hardware","robotics","walking-robot"],"license":"Apache-2.0","category":"robotics_hardware","readme_excerpt":"# The Sesame Robot Project \r\n___\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n
\r\n\r\n___\r\n\r\n**Greetings, from your new best friend.**\r\n\r\nSesame is an accessible Open-Source robotics project based on the ESP32 microcontroller system, with an emphasis on expression and movement. \r\nThis project is designed for makers and engineers of all skill levels! Sesame offers a dynamic platform designed to start working with walking robots. \r\nTo 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.\r\n\r\nThis repository contains the CAD design files, STL files, build and wiring guides, and the base/expanded firmware for the ESP32-based controller. \r\nThere is also some included debugging firmware that may be helpful in getting your Sesame up and running.\r\n\r\n## Features\r\n\r\n* **Quadruped Design:** Uses 8 servo motors (2 per leg) to achieve roughly 8 total degrees of freedom.\r\n* **Emotive Display:** Features a 128x64 OLED screen acting as a reactive face that syncs with movement.\r\n* **Fully Printable:** Designed entirely for 3D printing in PLA with minimal supports.\r\n* **Network Connectivity:** Connect to your WiFi network for remote control and API access.\r\n* **JSON API:** RESTful API for programmatic control from Python, JavaScript, and more.\r\n* **Conversational Faces:** Expressive emotion library with talk variants for voice assistant projects.\r\n* **Sesame Studio:** New animation composer software to easily create custom movements.\r\n* **Sesame Companion App:** Python application for voice control and advanced interactions.\r\n* **Serial CLI:** Control the robot and trigger animations via a Serial Command Line Interface or the web UI.\r\n* **Pre-programmed Emotes:** Includes animations for Walking, Waving, Dancing, Pointing, Resting, and more.\r\n\r\n\r\n## Watch the launch video on YouTube\r\n\r\n\r\n\r\n___\r\n\r\n## Getting Started\r\n\r\nFollow these steps to build your own Sesame Robot:\r\n\r\n### 1. Gather Parts \r\nCheck the **[Bill of Materials (BOM)](hardware/bom/README.md)** for a complete list of required electronics and hardware.\r\n* 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)\r\n* Actuators: 8x MG90 Servos\r\n* 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)\r\n\r\n### 2. Print Parts \r\nDownload the STLs and follow the **[Printing Guide](hardware/printing/README.md)**.\r\n* Designed for PLA\r\n* Minimal supports required\r\n\r\n### 3. Build & Wire \r\nFollow the **[Build Guide](docs/build-guide/README.md)** and **[Wiring Guide](docs/wiring-guide/README.md)** to assemble the frame and connect the electronics.\r\n\r\n### 4. Flash Firmware \r\nUpload the code from the **[Firmware Directory](firmware/README.md)**.\r\n* Requires Arduino IDE\r\n* Configure WiFi AP settings\r\n\r\n### 5. Create Animations \r\nUse **[Sesame Studio](software/sesame-studio/README.md)** to visually design poses and sequences for your robot.\r\n\r\n\r\n\r\n---\r\n\r\n## Software & Firmware\r\n\r\n### Sesame Studio\r\nSesame Studio is a standalone desktop application included in `software/sesame-studio/`. It allows you to:\r\n* Visually pose the robot using a schematic interface.\r\n* Generate C++ code for servo angles automatically.\r\n* Sequence frames into complex animations.\r\n\r\n[**> Go to Sesame Studio**](software/sesame-studio/README.md)\r\n\r\n\r\n### Sesame Simulator\r\nThe Sesame Simulator, created by Jay Li, is a Rust-based 3D simulation environment for testing Sesame's movements and kinematics in a virtual space. It features:\r\n* **Physics-based Simulation:** Test walking and balance without hardware.\r\n* **Web-based Interface:** Run the simulator directly in your browser.\r\n* **URDF Integration:** Accurate modeling of Sesame's physical properties.\r\n\r\n[**> Go to Sesame Simulator**](https://one-for-all.github.io/sesame-robot-sim/)\r\n\r\n### Sesame Companion App\r\nThe Sesame Companion App is a Python-based application that enables advanced control and interaction with your robot over your local network. It leverages the new JSON API and network mode features to provide:\r\n* **Voice Assistant Integration:** Control Sesame with voice commands and see real-time emotional expressions.\r\n* **Remote Control:** Command your robot from anywhere on your local network.\r\n* **Face Control:** Change expressions dynamically based on conversation or context.\r\n* **API Examples:** Reference implementation for building your own integrations.\r\n\r\nThe Companion App works with robots running the latest firmware with network mode enabled.\r\n\r\n[**> Go to Sesame Companion App Repository**](https://github.com/dorianborian/sesame-companion-app)\r\n\r\n### Firmware\r\nThe ESP32 firmware (`sesame-firmware-main.ino`) handles the kinematics, face display, and WiFi control interface.\r\n* **Web UI:** Control the robot from your phone via the built-in Access Point.\r\n* **Custom Faces:** Add your own bitmaps (guide in firmware docs).\r\n\r\n[**> Go to Firmware Docs**](firmware/README.md)\r\n\r\n\r\n---\r\n\r\n## Contributing\r\n\r\nThis 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:\r\n* Kinematics improvements\r\n* New animations\r\n* Improved Web UI/UX\r\n* Sensor integration (Ultrasonic, Gyro, etc.)\r\n\r\nI 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!\r\n \r\n---\r\n\r\n*Created by [Dorian Todd](https://www.doriantodd.com/). Need help with your Sesame Robot? Send me a message on Discord, my username is \"starphee\"*\r\n","default_branch":"main","files":129,"tree":[".gitignore","LICENSE","README.md","docs/README.md","docs/build-guide/README.md","docs/build-guide/assets/all-hardware.png","docs/build-guide/assets/battery-connector-solder.png","docs/build-guide/assets/display-soldering.png","docs/build-guide/assets/display-wires.png","docs/build-guide/assets/dont-mount.png","docs/build-guide/assets/femur-joints.png","docs/build-guide/assets/foot-joints.png","docs/build-guide/assets/insert-battery.png","docs/build-guide/assets/insert-display-enclosed.png","docs/build-guide/assets/insert-display.png","docs/build-guide/assets/insert-frame.png","docs/build-guide/assets/install-frame-motors.png","docs/build-guide/assets/joint-horn-install-2.png","docs/build-guide/assets/joint-horn-install.png","docs/build-guide/assets/joints-preassem.png","docs/build-guide/assets/press-on-bottom-cover.png","docs/build-guide/assets/push-on-top-cover.png","docs/build-guide/assets/reference-configuration.png","docs/build-guide/assets/remove-headers.png","docs/build-guide/assets/rotate-motor.png","docs/build-guide/assets/screw-on-bottom-cover.png","docs/build-guide/assets/secure-distro-board.png","docs/build-guide/assets/secure-distro-boardv2.png","docs/build-guide/assets/secure-electronics.png","docs/build-guide/assets/secure-top-cover.png","docs/build-guide/assets/securing-display-enclosed.png","docs/build-guide/assets/securing-display.png","docs/build-guide/assets/servo-install-leg.png","docs/build-guide/assets/sesame-angle-guide.png","docs/build-guide/assets/sesame-done.png","docs/build-guide/assets/switch-insert.png","docs/build-guide/assets/top-cover-wiring.png","docs/build-guide/assets/wire-routing.png","docs/build-guide/assets/wire-spot.png","docs/build-guide/assets/zip-tie-bundles.png","docs/images/README.md","docs/images/sesame-topdown.png","docs/images/sesamefaces/bow.png","docs/images/sesamefaces/crab.png","docs/images/sesamefaces/cute.png","docs/images/sesamefaces/dance.png","docs/images/sesamefaces/dead.png","docs/images/sesamefaces/defualt.png","docs/images/sesamefaces/freaky.png","docs/images/sesamefaces/point.png","docs/images/sesamefaces/pushup.png","docs/images/sesamefaces/rest.png","docs/images/sesamefaces/shake.png","docs/images/sesamefaces/shrug.png","docs/images/sesamefaces/stand.png","docs/images/sesamefaces/stand2.png","docs/images/sesamefaces/swim.png","docs/images/sesamefaces/walk.png","docs/images/sesamefaces/walk2.png","docs/images/sesamefaces/wave.png","docs/images/sesamefaces/worm.png","docs/wiring-guide/README.md","docs/wiring-guide/assets/proto-datalines.png","docs/wiring-guide/assets/proto-headers.png","docs/wiring-guide/assets/proto-power-rails.png","docs/wiring-guide/assets/wire-managment.png","docs/wiring-guide/distro-board-wiring-guide.png","docs/wiring-guide/s2-mini-wiring-guide-new.png","firmware/README.md","firmware/captive-portal.h","firmware/debugging-firmware/sesame-motor-tester.ino","firmware/face-bitmaps.h","firmware/movement-sequences.h","firmware/sesame-firmware-main.ino","hardware/README.md","hardware/bom/README.md","hardware/cad/README.md","hardware/cad/Sesame-ESP32-v122.f3z","hardware/cad/Sesame-ESP32-v122.step","hardware/pcb/README.md","hardware/pcb/SDB-layout.png","hardware/pcb/distro-v1/Gerber_Sesame-Distro-Board_PCB_Sesame-Distro-Board_V1.zip","hardware/pcb/distro-v1/Schematic_Sesame-Distro-Board.png","hardware/pcb/distro-v2/BOM_Sesame-Distro-V2.csv","hardware/pcb/distro-v2/Gerber_Sesame-Distro-V2_PCB.zip","hardware/pcb/distro-v2/PickAndPlace_PCB_Sesame-Distro-V2.csv","hardware/pcb/distro-v2/SCH_Sesame-Distro-Board-V2_2026-03-06.json","hardware/pcb/distro-v3.1/BOM_Sesame-Distro-Board-V3.1.csv","hardware/pcb/distro-v3.1/Gerber_Sesame-Distro-Board-V3.1.zip","hardware/pcb/distro-v3.1/PCB_PCB_Sesame-Distro-Board-V3.1.json","hardware/pcb/distro-v3.1/PickAndPlace_PCB_Sesame-Distro-Board-V3.1.csv","hardware/pcb/distro-v3.1/SCH_Sesame-Distro-Board-V3.1.json","hardware/pcb/distro-v3.1/assets/PCB_Sesame-Distro-Board-V3.1.png","hardware/pcb/distro-v3.1/assets/Schematic_Sesame-Distro-Board-V3.1.png","hardware/pcb/distro-v3.1/assets/Schematic_Sesame-Distro-Board-V3_2026-05-30.png","hardware/pcb/distro-v3.1/assets/pcb-v3.1-close.png","hardware/pcb/distro-v3.1/assets/pcb-v3.1.png","hardware/pcb/distro-v3.1/assets/pcbv3-fix.png","hardware/pcb/pcbs.png","hardware/printing/README.md","hardware/printing/assets/joints-orientation.png","hardware/printing/assets/sliced-topcover.png","hardware/printing/assets/topcover-supports1.png","hardware/printing/assets/topcover-supports2.png","hardware/printing/stl/Bottom-Cover-v121.stl","hardware/printing/stl/Internal-Frame-v121.stl","hardware/printing/stl/L1-v117.stl","hardware/printing/stl/L2-v117.stl","hardware/printing/stl/L3-v117.stl","hardware/printing/stl/L4-v117.stl","hardware/printing/stl/R1-v117.stl","hardware/printing/stl/R2-v117.stl","hardware/printing/stl/R3-v117.stl","hardware/printing/stl/R4-v117.stl","hardware/printing/stl/top-covers/README.md","hardware/printing/stl/top-covers/Top-Cover-Cat-v100.stl","hardware/printing/stl/top-covers/Top-Cover-Enclosed-v117.stl","hardware/printing/stl/top-covers/Top-Cover-No-Ears-v100.stl","hardware/printing/stl/top-covers/hats/magnetic-chainsaw-hat.stl","hardware/printing/stl/top-covers/hats/magnetic-modular-mount-hat.stl","software/README.md","software/sesame-studio/README.md","software/sesame-studio/assets/sesame-icon.png","software/sesame-studio/assets/sesame-sticker.png","software/sesame-studio/assets/sesame-sticker2.png","software/sesame-studio/assets/sesamestudio-preview.png","software/sesame-studio/sesame-angle-guide.png","software/sesame-studio/sesame-topdown.png","software/sesame-studio/sesame_studio.py"],"storefront":"/r/dorianborian","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/dorianborian/sesame-robot/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}