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dorianborian/sesame-robot

An open-source, 3D-printable mini quadruped robot built on the ESP32 with an OLED face and servo-driven walking.

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What is it?

Sesame is an open-source mini quadruped robot built around the ESP32 microcontroller, with an emphasis on expression and movement. It uses eight servo motors, two per leg, and a 128x64 OLED screen that acts as a face and syncs with its movements. The frame is designed to be printed in PLA with minimal supports.

The repository holds the CAD and STL files, build and wiring guides, and the ESP32 firmware, which is written in C++ for the Arduino IDE. The firmware exposes a built-in WiFi access point with a web UI, a serial command line interface, and a JSON API for controlling the robot from Python, JavaScript, and other languages. Pre-programmed animations include walking, waving, dancing, pointing, and resting.

The project is split into companion repositories: Sesame Studio for designing poses and animations, a Rust-based simulator for testing movement in the browser, a Python companion app for voice control and remote interaction, and an ML toolkit for locomotion policy evaluation.

Key features

  • 01Eight servo motors across four legs for quadruped walking.
  • 02128x64 OLED screen that displays reactive facial expressions.
  • 03Parts designed for 3D printing in PLA with minimal supports.
  • 04WiFi access point with web UI and a JSON API for remote control.
  • 05Serial command line interface for triggering animations.
  • 06Pre-programmed emotes such as walking, waving, and dancing.

Use cases

  • Learning robotics and servo control with an affordable walking robot.
  • Building a desktop companion robot with expressive faces for voice assistant projects.
  • Prototyping gait and locomotion code in simulation before running it on hardware.
  • Creating custom animations and OLED faces for a personal robot build.

Quick start

  1. 1

    Gather parts from the Bill of Materials

  2. 2

    Print the STL parts following the Printing Guide

  3. 3

    Build and wire the robot using the Build and Wiring Guides

  4. 4

    Flash the firmware from the Firmware Directory using Arduino IDE

Things to know

  • Requires basic soldering skills, a 3D printer, and roughly $50-60 in hardware.
  • Requires the Arduino IDE to flash the firmware.
  • The README describes the current firmware as a basic implementation.

Topics

#robotics#esp32#quadruped#3d-printing#arduino#embedded#servo#iot#hardware#walking-robot

FAQ

What is sesame-robot?
An open-source, 3D-printable mini quadruped robot built on the ESP32 with an OLED face and servo-driven walking. Sesame is an open-source mini quadruped robot built around the ESP32 microcontroller, with an emphasis on expression and movement. It uses eight servo motors, two per leg, and a 128x64 OLED screen that acts as a face and syncs with its movements. The frame is designed to be printed in PLA with minimal supports.
Is sesame-robot free to use? What license does it have?
sesame-robot is open source under the Apache-2.0 license. Check the license terms before using it in commercial products.
Is sesame-robot still maintained?
Actively maintained. The last commit to sesame-robot was on Oct 15, 2026.
What can I use sesame-robot for?
Learning robotics and servo control with an affordable walking robot. Building a desktop companion robot with expressive faces for voice assistant projects. Prototyping gait and locomotion code in simulation before running it on hardware. Creating custom animations and OLED faces for a personal robot build.
How do I install sesame-robot?
Gather parts from the Bill of Materials Print the STL parts following the Printing Guide Build and wire the robot using the Build and Wiring Guides Flash the firmware from the Firmware Directory using Arduino IDE
Where can I get sesame-robot?
The source code and installation instructions are on GitHub: https://github.com/dorianborian/sesame-robot

Summary generated by AI from the project's README. GitHub stats refresh daily.

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