How to build Waveshare WAVEGO
12-DoF four-legged robot dog · Beginner
WAVEGO is Waveshare's 12-DoF multi-link robot dog kit: an ESP32 for IK and gaits, an optional Raspberry Pi 4B for vision, and MIT-licensed code. About $243.
Mostly printed parts and plug-in servos. Good first build.
Our estimate, part-time
$242.99 for Waveshare's kit (cells not included)
MIT (software only)
What is Waveshare WAVEGO?
WAVEGO is Waveshare's dog-shaped kit with multi-link legs driven by twelve small servos. An ESP32 handles inverse kinematics and gait generation.
You can add a Raspberry Pi 4B with its own camera for face recognition and colour tracking. The OV2640 camera on the ESP32 is separate.
Only the software is open (MIT). The aluminium and PA12 structure comes from Waveshare with no CAD released, and the 18650 cells are sold separately.
Waveshare WAVEGO specifications
- DoF
- 12
- Controller
- ESP32 + optional Pi 4B
- IMU
- ICM20948
- Power monitor
- INA219
- Battery
- 2× 18650 (not included)
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| WAVEGO kit (structure, servos, bearings, electronics) | 1 | |
| 18650 Li-ion cell | 2 | Under 67 mm long; buy separately |
| Raspberry Pi 4B + camera | — | Optional |
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 $242 as a ballpark from the project. Start at the project repository.
Tools you'll need
- Small screwdrivers
- Arduino IDE
Step-by-step build overview
Electronics & wiring overview
The ESP32 board drives all servos and reads the ICM20948 and INA219. The Pi connects to the ESP32 over serial.
Software
MIT-licensed ESP32 Arduino firmware and Raspberry Pi Python/web code.
Tips from the bench
- ☕ Check the cell length, because many protected 18650s won't fit.
Waveshare WAVEGO FAQ
Is WAVEGO open hardware?
No. The software is MIT, but the mechanics are a closed kit.
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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