dorianborian / sesame-robot

# 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 180 Degree 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 desktop app