Greetings, from your new best friend.
Sesame is an accessible Open-Source robotics project based on the ESP32 microcontroller system, with an emphasis on expression and movement. This project is designed for makers and engineers of all skill levels! Sesame offers a dynamic platform designed to start working with walking robots. To build a sesame robot, you will need basic soldering skills, $50-60 in hardware components, access to a 3D printer, and a basic understanding of Arduino IDE.
This repository contains the CAD design files, STL files, build and wiring guides, and the base/expanded firmware for the ESP32-based controller. There is also some included debugging firmware that may be helpful in getting your Sesame up and running.
- Quadruped Design: Uses 8 servo motors (2 per leg) to achieve roughly 8 total degrees of freedom.
- Emotive Display: Features a 128x64 OLED screen acting as a reactive face that syncs with movement.
- Fully Printable: Designed entirely for 3D printing in PLA with minimal supports.
- Network Connectivity: Connect to your WiFi network for remote control and API access.
- JSON API: RESTful API for programmatic control from Python, JavaScript, and more.
- Conversational Faces: Expressive emotion library with talk variants for voice assistant projects.
- Sesame Studio: New animation composer software to easily create custom movements.
- Sesame Companion App: Python application for voice control and advanced interactions.
- Serial CLI: Control the robot and trigger animations via a Serial Command Line Interface or the web UI.
- Pre-programmed Emotes: Includes animations for Walking, Waving, Dancing, Pointing, Resting, and more.
Follow these steps to build your own Sesame Robot:
Check the Bill of Materials (BOM) for a complete list of required electronics and hardware.
- Microcontroller: Lolin S2 Mini (recommended for DIY builds), Sesame Distro Board V2 (included in Build Kits, pre-flashed), or ESP32-DevKitC-32E with Distro Board V1 (legacy)
- Actuators: 8x MG90 Servos
- Power: 5V 3A source (USB-C PD for S2 Mini and V2 Distro Board, or battery + buck converter; see BOM for the 2× 10440 Li-ion + 2× AAA holder option)
Download the STLs and follow the Printing Guide.
- Designed for PLA
- Minimal supports required
Follow the Build Guide and Wiring Guide to assemble the frame and connect the electronics.
Upload the code from the Firmware Directory.
- Requires Arduino IDE
- Configure WiFi AP settings
Use Sesame Studio to visually design poses and sequences for your robot.
Sesame Studio is a standalone desktop application included in software/sesame-studio/. It allows you to:
- Visually pose the robot using a schematic interface.
- Generate C++ code for servo angles automatically.
- Sequence frames into complex animations.
The Sesame Companion App is a Python-based application that enables advanced control and interaction with your robot over your local network. It leverages the new JSON API and network mode features to provide:
- Voice Assistant Integration: Control Sesame with voice commands and see real-time emotional expressions.
- Remote Control: Command your robot from anywhere on your local network.
- Face Control: Change expressions dynamically based on conversation or context.
- API Examples: Reference implementation for building your own integrations.
The Companion App works with robots running the latest firmware with network mode enabled.
> Go to Sesame Companion App Repository
The ESP32 firmware (sesame-firmware-main.ino) handles the kinematics, face display, and WiFi control interface.
- Web UI: Control the robot from your phone via the built-in Access Point.
- Custom Faces: Add your own bitmaps (guide in firmware docs).
This robot is a platform for building new features, cosmetics, tools, and ideas. Since the current firmware is a basic implementation, pull requests are very welcome for:
- Kinematics improvements
- New animations
- Improved Web UI/UX
- Sensor integration (Ultrasonic, Gyro, etc.)
I would also love to see forks of this project with new hardware, software, faces, etc. Be sure to send me a message if you end up building one, and I might feature you on my website or channel!
I am excited to announce that, after popular demand, Sesame Complete Build Kits are now available for pre-order!
That's right, your little robot companion just got even easier to build. Each kit includes all the components you need to build a full Sesame Robot. With the included detailed instructions, guides, and resources, this kit is perfect for both seasoned Makers and beginners. Click the image below to learn more.
Created by Dorian Todd. Need help with your Sesame Robot? Send me a message on Discord, my username is "starphee"