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Mobile Robots
Sesame Quadruped
B
BBROKER-2
@BROKER-2
🛒 Add items 11–20Amazon limits 10 items per cart — click each button to add all parts.
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Help me build this physical robot — 3D print the parts, source the BOM, assemble the hardware, and connect it to orobot.io: orobot.io/o/program/BROKER-2/sesame-quadruped — agent docs at orobot.io/llms.txt
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About this program
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 synced to movement.
All mechanical parts are fully 3D-printable on a standard FDM printer (PLA, minimal supports). Hat variants available: enclosed, open-top, cat-ears.
Printing
This file list prints one complete robot. A few notes:
- Legs print x2. L1-L4 and R1-R4 are the left/right leg segments - print the full L1-L4 and R1-R4 set twice (4 legs / 8 leg assemblies total).
- Frame & bottom cover (Internal-Frame, Bottom-Cover) print x1 each.
- Top cover: the included Top-Cover-Enclosed (stubby ears, as shown in the photos) is the default. Alternate covers - Cat (sharp cat ears) and No-Ears (a template for designing your own ears) - are available upstream and can be swapped in if preferred.
- Optional: the two magnetic hats (chainsaw, modular-mount) are cosmetic add-ons that clip onto the cover magnet slots - print only if you want them.
Capabilities
- 8-DOF quadruped locomotion (walk, trot, wave, dance, point, rest, sit)
- 128×64 OLED face synced to movement
- WiFi web UI + JSON REST API — control from any browser
- Serial CLI for direct command input
- Pre-programmed emotes via Sesame Studio animation composer
- Sesame Simulator — Rust/URDF web 3D sim for previewing poses offline
Prerequisites
- Basic soldering (hand-soldered wiring harness — see Wiring Guide)
- Access to an FDM printer
- Arduino IDE familiarity for firmware flashing
Build Gotchas
Use the Lolin S2 Mini (or Sesame Distro Board V3) — not a bare ESP32-DevKit. The upstream firmware targets the S2 Mini pinout specifically.
Power supply matters: use a genuine 5V/3A regulated supply. Underpowered supplies cause brownouts under load.
Print in PLA with minimal supports. The STL set is tuned for FDM; no ABS/PETG required.
Metadata
- GitHub: dorianborian/sesame-robot (1,619 ★)
- License: Apache 2.0
- Author: Dorian Todd (Dorian Borian)
- Difficulty: Intermediate
Links
🖨 Print Files (13)
L1-v117.stl
STL
L2-v117.stl
STL
L3-v117.stl
STL
L4-v117.stl
STL
R1-v117.stl
STL
R2-v117.stl
STL
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Required Hardware
~$5–$15 total
Slot 1
ESP32 (BYOD)
Microcontroller with built-in WiFi and Bluetooth — for lightweight orobot firmware deployments.
$5–$15
Where to buy →Product links updated Jun 10, 2026 · Links not verified since last update
🛒 Add items 11–20Amazon limits 10 items per cart — click each button to add all parts.
$85–$190 estimated
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 |
| 0.96" SSD1306 I2C OLED (128×64) | 1 | Slides into top cover slot | Amazon |
| USB-C data/power cable | 1 | Needs to carry 5V/3A for flashing and tethered mode | Amazon |
| Rocker power switch (KCD1, panel mount) | 1 | Snaps into the top cover cutout | Amazon |
| 22AWG silicone wire kit | 1 | Power/ground bus lines | Amazon |
| 30AWG silicone wire kit | 1 | Signal leads and dense harnessing | Amazon |
| Heat-shrink assortment | 1 | Insulate OLED, switch, and battery joints | Amazon |
| Small zip ties | 1 pack | Bundling wires inside the frame | Amazon |
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 |
| Small protoboard (approx. 5×7 cm) | 1 | Hosts the header matrix and rails | Amazon |
| 3-pin male headers | 8 | Build the servo breakout; match spacing to MG90 plugs | Amazon |
MG90S all-metal micro servos (180°) ×2 ↗Lolin/WeMos ESP32-S2 Mini ↗0.96" SSD1306 I2C OLED (128×64) ↗KCD1 rocker switch (panel mount) ↗Small protoboard (~5×7 cm) ↗3-pin male headers ↗DC-DC buck converter (5–12 V → 5 V/3 A) ↗22 AWG silicone wire ↗30 AWG silicone wire ↗Heat-shrink assortment ↗Small zip ties ↗2× AAA cell holder ↗XT30 female pigtail ↗M2 × 5 mm self-threading screws ↗M2.5 × 5 mm machine screws ↗USB-C cable (5V/3A, for flashing & tethered mode) ↗
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