1,619 stars on GitHub. Sesame is an affordable, open-source mini quadruped robot powered by an ESP32 microcontroller. Designed by Dorian Borian, Sesame uses 8 MG90S metal-gear servos (two per leg) for 8-DOF locomotion and features a 128×64 OLED display that serves as an expressive robot face. Source: https://github.com/dorianborian/sesame-robot All mechanical parts are fully 3D-printable on a standard FDM printer. The hardware folder contains both parametric STEP and Fusion 360 source models alongside the STL files, allowing full customization. The frame, internal structure, covers, and leg segments are all available as individual STLs. The ESP32 firmware handles inverse kinematics, face animations on the OLED display, and a WiFi-based control interface accessible from any browser. A desktop companion app (Sesame Studio) is included for easy gait configuration and pose tuning without writing code. Community documentation covers full assembly with detailed wiring diagrams and a comprehensive BOM. Hat variants are available (enclosed, open, cat ears) for personality customization. With over 1600 GitHub stars, Sesame has become a go-to beginner quadruped platform. License: Apache 2.0.
Category: Mobile Robots
## Core Electronics (Both Builds) | Item | Qty | Notes | Source | | --- | --- | --- | --- | | MG90S all-metal micro servos (180 Deg) | 8 (buy 10 for spares) | Primary hip/leg actuators; includes servo horns but keep extras | [Amazon](https://www.amazon.com/s?k=mg90s+metal+gear+servo+pack+of+8) | | 0.96" SSD1306 I2C OLED (128×64) | 1 | Slides into top cover slot | [Amazon](https://www.amazon.com/s?k=0.96%22+I2C+OLED+SSD1306) | | USB-C data/power cable | 1 | Needs to carry 5V/3A for flashing and tethered mode | [Amazon](https://www.amazon.com/s?k=usb+c+cable+60w) | | Rocker power switch (KCD1, panel mount) | 1 | Snaps into the top cover cutout | [Amazon](https://www.amazon.com/s?k=KCD1+mini+rocker+switch+2+pin) | | 22AWG silicone wire kit | 1 | Power/ground bus lines | [Amazon](https://www.amazon.com/s?k=22awg+silicone+wire+kit) | | 30AWG silicone wire kit | 1 | Signal leads and dense harnessing | [Amazon](https://www.amazon.com/s?k=30awg+silicone+wire) | | Heat-shrink assortment | 1 | Insulate OLED, switch, and battery joints | [Amazon](https://www.amazon.com/s?k=heat+shrink+tubing+kit) | | Small zip ties | 1 pack | Bundling wires inside the frame | [Amazon](https://www.amazon.com/s?k=mini+zip+ties) | ## Wiring Option A – S2 Mini / Hand-Wired Harness | Item | Qty | Notes | Source | | --- | --- | --- | --- | | Lolin/WeMos ESP32-S2 Mini | 1 | Native USB-C, fits on perfboard for the hand-wired build | [Amazon](https://www.amazon.com/s?k=esp32+s2+mini) | | Small protoboard (approx. 5×7 cm) | 1 | Hosts the header matrix and rails | [Amazon](https://www.amazon.com/s?k=prototype+perfboard) | | 3-pin male headers | 8 | Build the servo breakout; match spacing to MG90 plugs | [Amazon](https://www.amazon.com/s?k=pin+header+strip) | | Buck converter (5–12 V in to stable 5V/3A out) | 1 | Powers motors + MCU when using batteries | [Amazon](https://www.amazon.com/s?k=3a+dc+dc+buck+converter+module) | ## Power Sources & Connectors | Item | Qty | Notes | Source | | --- | --- | --- | --- | | 3S 450 mAh LiPo with XT30 | 1 | Recommended wireless pack; ensure high-discharge rating | [Amazon](https://www.amazon.com/s?k=3s+450mah+lipo+xt30) | | 2× AAA holder | 1 set | 2S pack using AAA size Li-Ion Batteries (~7.4V nominal) that fits the chassis battery slot | [Amazon](https://www.amazon.com/s?k=2x+aaa+battery+holder) | | 10440 Li-ion cells (350–400 mAh typical) | 2 | Standard 10×44 mm Li-ion cells; buy spares | [Amazon](https://www.amazon.com/s?k=10440+li-ion+cell+350mah) | | 2-slot 10440 Li-ion charger | 1 | Charge cells outside the holder | [Amazon](https://www.amazon.com/s?k=10440+li-ion+charger+2+slot) | | XT30 female pigtail | 1 | Interface battery to switch without cutting stock leads | [Amazon](https://www.amazon.com/s?k=xt30+female+pigtail) | ## Fasteners & Mechanical Hardware | Item | Qty | Usage | Source | | --- | --- | --- | --- | | M2 × 5 mm self-threading screws | ~40 | All plastic joints, OLED retention, motor mounts, and covers | [Amazon](https://www.amazon.com/s?k=m2+self+tapping+screws+kit) | | M2.5 × 5mm machine screws | 10 | Servo horn attachment to servo shafts only; included screws are usually too short | [Amazon](https://www.amazon.com/s?k=m2+machine+screw+kit) | ## Consumables & Tools | Item | Notes | Source | | --- | --- | --- | | Leaded solder (0.6–0.8 mm) | Easier flow for dense perfboard work | [Amazon](https://www.amazon.com/s?k=63%2F37+solder+0.8mm) | | Flux pen | Protects pads on the perfboard | [Amazon](https://www.amazon.com/s?k=flux+pen) | | Solder wick / pump | For rework on the OLED pins | [Amazon](https://www.amazon.com/s?k=solder+wick) | | Small flush cutters | Trim servo leads, perfboard traces, or supports | [Amazon](https://www.amazon.com/s?k=flush+cutters) | | Precision screwdriver set | Needed for self-tapping M2 hardware | [Amazon](https://www.amazon.com/s?k=precision+screwdriver+set) |