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What is this?
Sesame is an open-source DIY quadruped walking robot built around an ESP32 microcontroller, designed with an emphasis on expressive movement and a reactive face display.
Sesame is an open-source DIY quadruped walking robot built around an ESP32 microcontroller, designed with an emphasis on expressive movement and a reactive face display.How do I get my own Sesame running?Gather the parts from the BOM, 3D print the STL files, assemble and wire the frame per the guides, then flash the firmware using Arduino IDE and configure WiFi AP settings.
Gather the parts from the BOM, 3D print the STL files, assemble and wire the frame per the guides, then flash the firmware using Arduino IDE and configure WiFi AP settings.What hardware and skills do I need before starting?You need basic soldering skills, about $50-60 in components, a 3D printer, and basic Arduino IDE knowledge; the build uses an ESP32-based board (e.g. Lolin S2 Mini) and 8x MG90 servos.
You need basic soldering skills, about $50-60 in components, a 3D printer, and basic Arduino IDE knowledge; the build uses an ESP32-based board (e.g. Lolin S2 Mini) and 8x MG90 servos.Is the firmware feature-complete or still basic?The firmware is described as a basic implementation, and the project actively invites contributions for kinematics, animations, and sensor integration improvements.
The firmware is described as a basic implementation, and the project actively invites contributions for kinematics, animations, and sensor integration improvements.Who is this project aimed at?It targets makers and engineers of all skill levels who want an accessible entry point into building walking robots.
It targets makers and engineers of all skill levels who want an accessible entry point into building walking robots.How do I control the robot once it is built?Over WiFi via a RESTful JSON API, a built-in web UI accessible from your phone through the robot's Access Point, or a Serial Command Line Interface.
Over WiFi via a RESTful JSON API, a built-in web UI accessible from your phone through the robot's Access Point, or a Serial Command Line Interface.What is Sesame Studio?A standalone desktop app included in the repo for visually posing the robot and sequencing animations, which auto-generates C++ servo-angle code.
A standalone desktop app included in the repo for visually posing the robot and sequencing animations, which auto-generates C++ servo-angle code.Can I add voice control to Sesame?Yes, the separate Python-based Sesame Companion App adds voice assistant integration and remote control over your local network using the robot's JSON API.
Yes, the separate Python-based Sesame Companion App adds voice assistant integration and remote control over your local network using the robot's JSON API.Is there a way to test movements without building the hardware?Yes, the Sesame Simulator is a Rust-based, web-accessible 3D physics simulation using URDF models to test walking and balance virtually.
Yes, the Sesame Simulator is a Rust-based, web-accessible 3D physics simulation using URDF models to test walking and balance virtually.What are similar projects?oomwoo, tiny-engineer, awesome-esp32, Dummy-Robot, INSLIB, smartknob, Microduck-build-tutorial, hermes-gadget-sdk
oomwoo, tiny-engineer, awesome-esp32, Dummy-Robot, INSLIB, smartknob, Microduck-build-tutorial, hermes-gadget-sdkWhich topics is it in?3d-printing, esp32, voice-assistant, robotics, embedded, hardware, json, c, rest-api, rust, gui, desktop-app
3d-printing, esp32, voice-assistant, robotics, embedded, hardware, json, c, rest-api, rust, gui, desktop-app