BAbout this program
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.
🖨 Print Files (14)
Bottom-Cover-v117.stl
Internal-Frame-v117.stl
L1-v117.stl
L2-v117.stl
L3-v117.stl
L4-v117.stl
Required Hardware
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 |