PetoiCamp/OpenCatEsp32-Quadruped-Robot

OpenCatESP32 – Open‑source quadruped framework for ESP32/BiBoard

What it is – A firmware repository that runs the OpenCat robot‑dog software on the BiBoard ESP32 development board. It powers Petoi’s current‑generation quadruped kits (Bittle X, Nybble Q) and the upcoming Quaddle mini robot‑dog.

Why it matters – By moving from the older ATmega‑based NyBoard to a dual‑core ESP32, the platform can handle real‑time leg coordination and perception (vision, Wi‑Fi/Bluetooth streaming) on a single board. This makes the robot a practical test‑bed for

• gait research and reinforcement‑learning experiments,
• ROS / SLAM demos with an attached Raspberry Pi,
• on‑board AI inference (e.g., simple vision or voice control).

Key hardware specs

• ESP32‑S3, 240 MHz dual core
• Built‑in Wi‑Fi & BT
• Up to 12 hobby servos (the kits use 4‑8)
• Arduino‑IDE compatible, with a ready‑made board‑configuration table in the README.

Main software components

• OpenCat core – low‑level servo timing, gait generators, and a “Puppet Mode” that records motions by hand‑guiding the legs.
• Examples & demos – walking, running, balancing, and hooks for adding perception pipelines.
• Simulator links – web‑based simulators for Bittle X and Quaddle let you prototype before the hardware arrives.

Typical use‑cases

Audience	What they do with the repo
Researchers / students	Run reinforcement‑learning or model‑based control loops on a cheap, physical quadruped; collect sensor data via Wi‑Fi.
Makers & educators	Flash the firmware from the Arduino IDE, program custom gaits, or use the “Puppet Mode” to create dance moves without writing code.
Hobbyist AI developers	Attach a Raspberry Pi or Jetson Nano, stream video over Wi‑Fi, and run lightweight vision models on‑board.

Getting started

1. Install the Arduino IDE and add the ESP32 board package.
2. Select the ESP32 Dev Module with the settings shown in the README (240 MHz, 4 MB flash, etc.).
3. Connect a BiBoard, plug in up to 12 servos, and upload the OpenCatESP32 sketch.
4. Use the provided example sketches or the web simulator to test walking gaits.
5. Join the community (Reddit, Discord, Facebook) for wiring diagrams, custom gait tutorials, and RL experiment scripts.

Community & support

• Reddit: r/OpenCat (firmware hacking) and r/Petoi (hardware & projects)
• Discord: real‑time chat for troubleshooting and sharing research results
• GitHub Issues: report bugs or request features; the repo is actively maintained by Petoi engineers.
• Educational resources: Petoi Guides, YouTube playlists, and blog posts covering AI reinforcement learning, ROS integration, and SLAM demos.

Roadmap / future

• The upcoming Quaddle robot will ship with a newer ESP32‑S3 codebase that is slated to be open‑sourced before the Kickstarter launch (Sept 2 2026).
• Ongoing work to improve the simulator, add more perception examples, and expand the RL training pipeline.

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All information above is taken directly from the repository’s README; no additional features have been inferred.