[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"project-73211":3},{"id":4,"name":5,"fullName":6,"owner":7,"repo":5,"description":8,"homepage":9,"htmlUrl":10,"language":11,"languages":10,"totalLinesOfCode":10,"stars":12,"forks":13,"watchers":14,"openIssues":15,"contributorsCount":16,"subscribersCount":16,"size":16,"stars1d":17,"stars7d":18,"stars30d":19,"stars90d":16,"forks30d":16,"starsTrendScore":20,"compositeScore":21,"rankGlobal":10,"rankLanguage":10,"license":22,"archived":23,"fork":23,"defaultBranch":24,"hasWiki":25,"hasPages":23,"topics":26,"createdAt":10,"pushedAt":10,"updatedAt":30,"readmeContent":31,"aiSummary":32,"trendingCount":16,"starSnapshotCount":16,"syncStatus":33,"lastSyncTime":34,"discoverSource":35},73211,"sesame-robot","dorianborian\u002Fsesame-robot","dorianborian","An open and affordable mini quadruped robot based on ESP32.","https:\u002F\u002Fwww.doriantodd.com\u002Fsesame",null,"C",2825,384,35,9,0,70,187,772,210,109.76,"Apache License 2.0",false,"main",true,[27,28,29],"hardware","robotics","walking-robot","2026-06-12 04:01:08","# The Sesame Robot Project \n___\n![License](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FLicense-APACHE2.0-yellow)\n![Microcontroller](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FMicrocontroller-ESP32-blue)\n![Firmware](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FFirmware-C%2B%2B-blue?logo=c%2B%2B)\n![IDE](https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FIDE-Arduino-00979D?logo=arduino&logoColor=white)\n![GitHub stars](https:\u002F\u002Fimg.shields.io\u002Fgithub\u002Fstars\u002Fdorianborian\u002Fsesame-robot?style=social)\n![GitHub forks](https:\u002F\u002Fimg.shields.io\u002Fgithub\u002Fforks\u002Fdorianborian\u002Fsesame-robot?style=social)\n\n\u003Cimg width=\"100%\" height=\"728\" alt=\"sesame-cover\" src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Ff0cc6ad0-135b-4515-8750-900f224ed7ae\" \u002F>\n\n\u003Cp align=\"center\">\n  \u003Ca href=\"https:\u002F\u002Fwww.youtube.com\u002Fwatch?v=NIgoQVQF_Ng\">\n    \u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F1663e022-0680-4053-97b4-53e669a6f07d\" width=\"49%\" alt=\"tutorial-button\">\n  \u003C\u002Fa>\n  \u003Ca href=\"https:\u002F\u002Fdiscord.gg\u002FXDXkhQd8bC\">\n    \u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F378fcb48-5b12-4b46-9dcb-452432d49913\" width=\"49%\" alt=\"discord-button\">\n  \u003C\u002Fa>\n\u003C\u002Fp>\n\n___\n\n**Greetings, from your new best friend.**\n\nSesame is an accessible Open-Source robotics project based on the ESP32 microcontroller system, with an emphasis on expression and movement. \nThis project is designed for makers and engineers of all skill levels! Sesame offers a dynamic platform designed to start working with walking robots. \nTo 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.\n\nThis repository contains the CAD design files, STL files, build and wiring guides, and the base\u002Fexpanded firmware for the ESP32-based controller. \nThere is also some included debugging firmware that may be helpful in getting your Sesame up and running.\n\n## Features\n\n*   **Quadruped Design:** Uses 8 servo motors (2 per leg) to achieve roughly 8 total degrees of freedom.\n*   **Emotive Display:** Features a 128x64 OLED screen acting as a reactive face that syncs with movement.\n*   **Fully Printable:** Designed entirely for 3D printing in PLA with minimal supports.\n*   **Network Connectivity:** Connect to your WiFi network for remote control and API access.\n*   **JSON API:** RESTful API for programmatic control from Python, JavaScript, and more.\n*   **Conversational Faces:** Expressive emotion library with talk variants for voice assistant projects.\n*   **Sesame Studio:** New animation composer software to easily create custom movements.\n*   **Sesame Companion App:** Python application for voice control and advanced interactions.\n*   **Serial CLI:** Control the robot and trigger animations via a Serial Command Line Interface or the web UI.\n*   **Pre-programmed Emotes:** Includes animations for Walking, Waving, Dancing, Pointing, Resting, and more.\n\n\n## Watch the launch video on YouTube\n\n\u003Ca href=\"https:\u002F\u002Fwww.youtube.com\u002Fwatch?v=1UDsWkcQZhc\">\u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F710cb5a6-163e-47e7-a294-5e2d2ab07627\" width=\"70%\" alt=\"thumb-youtube\">\u003C\u002Fa>\n\n___\n\n## Getting Started\n\nFollow these steps to build your own Sesame Robot:\n\n### 1. Gather Parts \nCheck the **[Bill of Materials (BOM)](hardware\u002Fbom\u002FREADME.md)** for a complete list of required electronics and hardware.\n*   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)\n*   Actuators: 8x MG90 Servos\n*   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)\n\n### 2. Print Parts \nDownload the STLs and follow the **[Printing Guide](hardware\u002Fprinting\u002FREADME.md)**.\n*   Designed for PLA\n*   Minimal supports required\n\n### 3. Build & Wire \nFollow the **[Build Guide](docs\u002Fbuild-guide\u002FREADME.md)** and **[Wiring Guide](docs\u002Fwiring-guide\u002FREADME.md)** to assemble the frame and connect the electronics.\n\n### 4. Flash Firmware \nUpload the code from the **[Firmware Directory](firmware\u002FREADME.md)**.\n*   Requires Arduino IDE\n*   Configure WiFi AP settings\n\n### 5. Create Animations \nUse **[Sesame Studio](software\u002Fsesame-studio\u002FREADME.md)** to visually design poses and sequences for your robot.\n\n\u003Cimg width=\"100%\" height=\"728\" alt=\"sesame-wakeup-gif\" src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Fa4951195-4253-40a4-a87d-d14fad57ff5f\" \u002F>\n\n---\n\n## Software & Firmware\n\n### Sesame Studio\nSesame Studio is a standalone desktop application included in `software\u002Fsesame-studio\u002F`. It allows you to:\n*   Visually pose the robot using a schematic interface.\n*   Generate C++ code for servo angles automatically.\n*   Sequence frames into complex animations.\n\n[**> Go to Sesame Studio**](software\u002Fsesame-studio\u002FREADME.md)\n\n\n### Sesame Simulator\nThe 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:\n*   **Physics-based Simulation:** Test walking and balance without hardware.\n*   **Web-based Interface:** Run the simulator directly in your browser.\n*   **URDF Integration:** Accurate modeling of Sesame's physical properties.\n\n[**> Go to Sesame Simulator**](https:\u002F\u002Fone-for-all.github.io\u002Fsesame-robot-sim\u002F)\n\n### Sesame Companion App\nThe 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:\n*   **Voice Assistant Integration:** Control Sesame with voice commands and see real-time emotional expressions.\n*   **Remote Control:** Command your robot from anywhere on your local network.\n*   **Face Control:** Change expressions dynamically based on conversation or context.\n*   **API Examples:** Reference implementation for building your own integrations.\n\nThe Companion App works with robots running the latest firmware with network mode enabled.\n\n[**> Go to Sesame Companion App Repository**](https:\u002F\u002Fgithub.com\u002Fdorianborian\u002Fsesame-companion-app)\n\n### Firmware\nThe ESP32 firmware (`sesame-firmware-main.ino`) handles the kinematics, face display, and WiFi control interface.\n*   **Web UI:** Control the robot from your phone via the built-in Access Point.\n*   **Custom Faces:** Add your own bitmaps (guide in firmware docs).\n\n[**> Go to Firmware Docs**](firmware\u002FREADME.md)\n\n\n---\n\n## Contributing\n\nThis 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:\n*   Kinematics improvements\n*   New animations\n*   Improved Web UI\u002FUX\n*   Sensor integration (Ultrasonic, Gyro, etc.)\n\nI 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!\n  \n---\n\n*Created by [Dorian Todd](https:\u002F\u002Fwww.doriantodd.com\u002F). Need help with your Sesame Robot? Send me a message on Discord, my username is \"starphee\"*\n","Sesame 机器人是一个基于 ESP32 微控制器的开源四足迷你机器人项目。它通过使用8个伺服电机（每条腿2个）实现了大约8个自由度，具备一个128x64 OLED屏幕作为表情展示，并且完全可3D打印。Sesame支持WiFi连接以实现远程控制和API访问，提供了一个RESTful JSON API供编程控制，适合Python、JavaScript等语言环境。此外，该项目还配备了表情库、动画制作软件以及语音控制应用，适用于对机器人技术感兴趣的初学者到高级工程师，特别适合用于教育、娱乐或个人项目开发。",2,"2026-06-11 03:44:30","high_star"]