How to build Sesame
8-DoF four-legged robot dog · Beginner
Build Sesame, Dorian Todd's Apache-2.0 mini quadruped: eight MG90S servos, an ESP32-S3 distro board, an animated OLED face and a Wi-Fi web UI, for about $55.
Mostly printed parts and plug-in servos. Good first build.
Our estimate, part-time
About $50–60 in hardware, per the README
Apache-2.0
What is Sesame?
Sesame is a cheap, friendly mini quadruped by Dorian Todd. Eight MG90S servos (two per leg) do the walking, and a 128×64 OLED behind the face shows animated expressions.
You can hand-wire it to a Lolin S2 Mini or use the custom Sesame Distro Board V3.1 with an ESP32-S3. The board's EasyEDA sources, Gerbers and pick-and-place files are all in the repo.
Everything is Apache-2.0: Fusion and STEP CAD, 11 printable parts, a BOM, build guides, Arduino firmware with a web UI, and the Sesame Studio animation tool.
Sesame specifications
- DoF
- 8 (4 hip, 4 leg)
- Servos
- MG90S 180°
- MCU
- ESP32-S3 (distro board) or Lolin S2 Mini
- Display
- SSD1306 128×64
- Printed parts
- 11 (PLA)
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| MG90S metal-gear micro servo | 8 | |
| SSD1306 0.96" OLED | 1 | |
| Sesame Distro Board V3.1 or Lolin S2 Mini | 1 | |
| KCD1 rocker switch | 1 | |
| 22 and 30 AWG silicone wire, heat-shrink | — | |
| USB-C cable (5 V 3 A) | — |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $55 as a ballpark from the project. Start at the project repository.
Tools you'll need
- FDM printer
- Soldering iron
- Arduino IDE
Step-by-step build overview
Electronics & wiring overview
The eight servo signals and the OLED's I²C connect to the ESP32. The power switch sits in the top cover, and tethered running needs a 5 V 3 A USB-C supply.
Software
Arduino firmware with a Wi-Fi web UI and JSON API, plus the Sesame Studio animator and a companion app.
Tips from the bench
- ☕ Use 30 AWG wire for signals or the harness won't fit.
Sesame FAQ
How much does Sesame cost?
The README estimates $50–60.
Do I need the custom PCB?
No. A hand-wired Lolin S2 Mini also works.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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