Create an Affordable Sesame Quadruped Robot with ESP32
Build the Affordable Sesame Quadruped Robot with ESP32
Are you fascinated by walking robots but worried about the price tag? The Sesame Robot is a compact, open‑source quadruped built around the powerful yet inexpensive ESP32 microcontroller, 8 small MG90 servos, and a 128x64 OLED face. Whether you’re a hobbyist, educator, or budding robotics engineer, Sesame offers an accessible entry point into quadruped kinematics, animation sequencing, and Wi‑Fi control.
What You’ll Need
| Item | Quantity | Notes |
|---|---|---|
| ESP32‑S2 Mini | 1 | Acts as brain & Wi‑Fi hub |
| MG90 servos | 8 | Two per leg for 4‑DOF quadruped |
| 5 V 3 A power (USB‑C PD) | 1 | Also supports Li‑ion 10440 + AAA combo |
| 3‑D printable PLA | as per STL files | Minimal support structures |
| Basic soldering kit | 1 | For header and header‑to‑board connections |
| USB cable for programming | 1 | To flash firmware via Arduino IDE |
Check the full Bill of Materials in the repository’s BOM.md.
Step‑by‑Step Build Guide
1. 3‑D Print the Frame
- Download the STL files from the
hardware/folder in the repo. - Slice using a standard PLA profile – no support needed.
- Print at 0.2 mm layer height, 20 % infill.
- Inspect and clean any remaining support threads.
2. Assemble the Legs
- Mount the 8 MG90 servos onto the printed brackets.
- Tighten all screws evenly to avoid wobble.
- Route the servo wires through the designated channels.
3. Wire the Electronics
- Connect servo wires to the ESP32 expansion header.
- Hook up the OLED display to the I²C pins (SDA/SCL).
- Connect the power input (5 V) to the ESP32 and servos using a split‑power regulator if necessary.
- Double‑check polarity and spacing.
4. Flash the Firmware
- Install the Arduino IDE with the ESP32 core.
- Open
firmware/folder in the IDE. - Update
config.hwith your Wi‑Fi credentials. - Upload the code and monitor the serial log for readiness.
5. Create Animations with Sesame Studio
- Launch Sesame Studio from
software/sesame-studio/. - Use the schematic interface to pose the robot.
- Generate servo‑angle code automatically.
- Sequence frames to build a full animation.
- Export the C++ array and paste it into a custom firmware file.
6. Control via Web UI
The firmware ships a Wi‑Fi hotspot. Connect your phone or laptop and open http://192.168.4.1 to see the live control panel. From here you can switch pre‑defined animations or trigger custom ones via Serial CLI commands.
Customization Ideas
- Add an ultrasonic sensor to enable obstacle avoidance.
- Replace MG90s with servo‑powered gimbal for a camera mount.
- Switch to a larger battery pack for longer runtime.
- Design a new face bitmap and load it into the OLED driver.
Pull requests for kinematics improvements, new animations, or UI polish are highly encouraged. The Sesame community is active, so share your builds and feature suggestions via the GitHub discussions or Discord (#starphee).
Why Sesame Matters
- Affordability – a $50‑$60 setup for a functional quadruped.
- Modularity – open‑source firmware lets you tweak locomotion or add sensors.
- Educational – perfect for classroom demonstrations of robotics fundamentals.
- Community‑Powered – the repo already has 564 stars, 65 forks, and ongoing contributions.
Whether you build to learn, prototype new gait algorithms, or just have fun, Sesame provides a solid, budget‑friendly platform.
Ready to get started?
Clone the repo, grab your parts, and let your creativity walk the talk!
Repository: https://github.com/dorianborian/sesame-robot