PetoiCamp/OpenCatEsp32-Quadruped-Robot

An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.

What it solves

OpenCatESP32 provides an open-source framework for controlling agile quadruped robots. It aims to make high-performance legged robotics affordable and accessible to researchers, educators, and makers, moving beyond expensive lab-grade equipment.

How it works

The project runs on the BiBoard, an ESP32-based development board designed for multi-degree-of-freedom robots. The dual-core 240 MHz processor allows the robot to handle real-time servo coordination and perception pipelines simultaneously. It supports up to 12 servos and is compatible with the Arduino IDE, providing wireless control via built-in Wi-Fi and Bluetooth.

Who it’s for

  • Researchers and Academics: Those conducting gait research, reinforcement learning (RL), and sim2real work.
  • Educators: K-12 programs, community colleges, and university labs teaching physical AI and robotics.
  • Makers: Hobbyists building and customizing 3D-printable robotic pets.

Highlights

  • ESP32-powered: High-performance dual-core processing for complex locomotion and perception.
  • Open Source: Both hardware and software are forkable for deep customization.
  • Hugging Face Integration: Supports a physical AI platform for RL and simulation.
  • Extensible: Compatible with ROS and Raspberry Pi for advanced computer vision and SLAM applications.

Related

  • Project
    PetoiCamp/OpenCat-Quadruped-Robot

    An open-source framework for quadruped robots that handles gait coordination and servo control, enabling researchers and makers to build AI-powered robotic pets.

  • Project
    dorianborian/sesame-robot

    An open‑source, ESP32‑based quadruped robot that’s 3‑D printable, Wi‑Fi‑controlled via a JSON API, and includes tools for animation (Sesame Studio), simulation, and a Python companion app.

  • Project
    PetoiCamp/OpenCat-Old

    An open-source platform for affordable quadruped mini robots used for physical AI education, gait research, and reinforcement learning.

  • Project
    espressif/esp-drone

    ESP-Drone is an open-source flight control platform for Espressif microcontrollers that enables drone development for education and prototyping through Wi-Fi-based control.

  • Dispatch
    Pollen Robotics Microduck: An Open-Source Biped for RL Training

    Pollen Robotics has launched Microduck, a 25cm open-source biped robot designed for reinforcement learning (RL) training via a sim-to-real pipeline using MuJoCo.