dorianborian/sesame-robot

What it solves

Sesame provides an accessible, open-source entry point for makers and engineers to build and program a walking quadruped robot. It removes the barrier to entry for robotics by providing a complete package of 3D-printable parts, electronics guides, and software tools for movement and expression.

How it works

The robot is powered by an ESP32 microcontroller and uses eight servo motors (two per leg) to achieve eight degrees of freedom. It features an OLED screen for a reactive face and connects to WiFi for remote control. The system is supported by a suite of tools: Sesame Studio for visual animation composing, a Rust-based 3D simulator for testing kinematics, and a Python-based Companion App for voice assistant integration and network control via a JSON API.

Who it’s for

Makers, hobbyists, and engineers of all skill levels who have access to a 3D printer and basic soldering skills.

Highlights

• Quadruped Design: 8-servo movement system for walking, waving, and dancing.
• Emotive Display: A 128x64 OLED screen that syncs facial expressions with physical movements.
• Animation Tooling: A dedicated studio for visually posing the robot and generating C++ code.
• Programmable Interface: Includes a RESTful JSON API and a Serial CLI for programmatic control.
• Robot Simulator: A physics-based 3D simulation environment to test movements without hardware.