Sesame
An ESP32-based quadruped with eight servos and a 3D-printed PLA body, designed as a platform for working with walking robots.
Project documentationBefore you build
Five answers, each linked to its source
What does it cost?
Not documented
No cost in the reviewed sources.
Can I sell what I build?
YesCommercial use OK
Hardware Apache-2.0 · Software Apache-2.0. Licensing source
What’s open?
6 of 6CAD: AvailableBOM: AvailablePCB: AvailableCode: AvailableSim: AvailableGuide: Available
All six available. All six files
What does it run on?
Is it maintained?
Active
Latest activity Oct 15, 2026 · main repo last commit Oct 15, 2026 · 145 commits in the last 52 weeks · 15 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
Sesame is an ESP32-based quadruped built from 3D-printed PLA parts and driven by eight servo motors. Its OLED screen acts as a reactive face that syncs with movement. The project includes CAD and STL files, build and wiring guides, and firmware for the ESP32 controller; it is designed as a platform for working with walking robots.
Hardware
- Actuators
- 8 · Servo motors README
- Build
- 3D-printed · PLA Documentation
- Actuators
- 8 servo motors README
- Degrees of freedom
- Roughly 8 total degrees of freedom README
- Display
- 128x64 OLED screen README
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | Parametric STEP and Fusion 360 source models; STEP and F3Z files are listed. | Not documented | cad/ |
| Bill of materials | Available | Bill of materials for the supported wiring approaches. | Not documented | README.md |
| Electronics | Available | Schematics, layout files, Gerber files, BOM, and Pick-and-Place files. | Not documented | pcb/ |
| Code | Available | Base and expanded firmware for the ESP32-based controller. | Not documented | firmware/ |
| Simulation model | Available | Robot description includes CAD-derived MJCF and validated URDF. | Not documented | README |
| Assembly guide | Available | End-to-end assembly guide. | Not documented | README.md |
03 / Know before you build
Can you sell it?
YesCommercial use OK
The whole repository, design files included, is Apache-2.0. You can build, modify and sell robots based on it, as long as you keep the license and copyright notices.
- Hardware
- Apache-2.0
- Software
- Apache-2.0
04 / The upstream project
Is it maintained?
ActiveLatest activity Oct 15, 2026, 15 days before the snapshot
The main repository’s last commit was Oct 15, 2026.
- Stars
- 4,876
- Forks
- 662
- Contributors
- 15
- Latest release
- None recorded
Snapshot captured Oct 30, 2026. Recorded figures, not live metrics. Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
MAKER’S COST
Not documented
No cost in the reviewed sources.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other quadrupeds.
Other quadrupeds in the directory, most recently active first. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| SesameThis robotDorian Todd | Not documented | 6 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | ESP32ArduinoPython | ActiveOct 15, 2026 | 4,876 |
| Spot Micro - LeikaRune Harlyk | Not documented | 4 of 6 | YesHW MIT · SW MIT License | ESP32MuJoCo | ActiveOct 29, 2026 | 92 |
| Physical AntOpenmind-Research-Institute | $2,230.61BOM total | 4 of 6 | YesHW MIT · SW MIT | PythonMuJoCo | ActiveOct 29, 2026 | 76 |
| OrionAshishA26 | Not documented | 5 of 6 | Check firstHW not documented · SW not documented | Isaac | ActiveOct 7, 2026 | 297 |
| This robotSesame | Spot Micro - Leika | Physical Ant |
|---|---|---|
| Cost | ||
| Not documented | Not documented | $2,230.61 |
| Can I sell it? | ||
| Yes | Yes | Yes |
| Open files | ||
| 6 of 6 | 4 of 6 | 4 of 6 |
| Runs on | ||
| ESP32, Arduino, Python | ESP32, MuJoCo | Python, MuJoCo |
| Maintained | ||
| ActiveOct 15, 2026 | ActiveOct 29, 2026 | ActiveOct 29, 2026 |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit f328ed3. Websites and papers are listed with their review dates.
- 01README.md at f328ed3Reviewed Oct 30, 2026
- 02LICENSE at f328ed3Reviewed Oct 30, 2026
- 03hardware/README.md at f328ed3Reviewed Oct 30, 2026