The Sesame Robot Project

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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.

Features

• 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.

Watch the launch video on YouTube

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Getting Started

Follow these steps to build your own Sesame Robot:

1. Gather Parts

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 V3 (Current, pre-flashed, supports Bambu Lab battery), V2 (legacy, USB-only), 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 Bambu Lab 14500 7.4V 800mAh Li-ion Battery option)

2. Print Parts

Download the STLs and follow the Printing Guide.

• Designed for PLA
• Minimal supports required

3. Build & Wire

Follow the Build Guide and Wiring Guide to assemble the frame and connect the electronics.

4. Flash Firmware

Upload the code from the Firmware Directory.

• Requires Arduino IDE
• Configure WiFi AP settings

5. Create Animations

Use Sesame Studio to visually design poses and sequences for your robot.

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Software & Firmware

Sesame Studio

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.

> Go to Sesame Studio

Sesame Simulator

The Sesame Simulator, created by Jay Li, is a Rust-based 3D simulation environment for testing Sesame's movements and kinematics in a virtual space. It features:

• Physics-based Simulation: Test walking and balance without hardware.
• Web-based Interface: Run the simulator directly in your browser.
• URDF Integration: Accurate modeling of Sesame's physical properties.

> Go to Sesame Simulator

Sesame Companion App

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

Firmware

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).

> Go to Firmware Docs

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Contributing

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!

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Created by Dorian Todd. Need help with your Sesame Robot? Send me a message on Discord, my username is "starphee"