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.
- 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.
Follow these steps to build your own Sesame Robot:
Check the Bill of Materials (BOM) for a complete list of required electronics and hardware.
- Microcontroller: ESP32 S2 Mini
- Actuators: 8x MG90 Servos
- Power: 5V 3A source
Download the STLs and follow the Printing Guide.
- Designed for PLA
- Minimal supports required
Follow the Build Guide and Wiring Guide to assemble the frame and connect the electronics.
Upload the code from the Firmware Directory.
- Requires Arduino IDE
- Configure WiFi AP settings
Use Sesame Studio to visually design poses and sequences for your robot.
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.
The ESP32 firmware 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).
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!
Created by Dorian Todd. Need help with your Sesame Robot? Send me a message on Discord, my username is "starphee"