Sesame Robot
A palm-sized walking robot with a face.
- Cost
- ~US$50–60hardware estimate from the README
- Difficulty
- 2/5
- Build time
- A weekend
- Skills
- 3D printing · Basic soldering · Arduino IDE
Made by Dorian Todd · License Apache-2.0
The files are hosted by the maker. We never re-upload them.
What it is
A tiny four-legged robot that walks, waves, dances and does push-ups. A little screen on its front shows dozens of faces, and it makes its own Wi-Fi so you can drive it from your phone.
How it works
- Eight small MG90S servos, two per leg: four hip motors inside the body, four knee motors out on the legs.
- The motors start one after another (about 20 ms apart), so the small power supply isn't overloaded.
- The brain is an ESP32-S2 Mini board, about the size of a stamp. It creates its own Wi-Fi hotspot.
- The face is a 0.96-inch OLED screen. The firmware ships with dozens of face drawings.
What you need
- 8× MG90S servos
- Lolin S2 Mini (or the Sesame board) and a 128×64 OLED
- 5 V 3 A USB-C power or a 7.4 V battery
- Printed parts (PLA, minimal supports)
Parts we use
- ServosMG90S metal-gear micro servo, 180°Amazon ★
- Controller boardsESP32-S2 Mini (Lolin/WeMos S2 Mini)Waveshare ★Amazon ★
- Sensors & cameras0.96" SSD1306 I2C OLED (128×64)Waveshare ★Amazon ★
- Power5 V 3 A buck converterWaveshare ★Amazon ★
- Hardware/toolsM2 self-tapping screw assortmentAmazon ★
- Hardware/toolsFlush cutters (Knipex Super Knips)Amazon ★
- Hardware/toolsPinecil smart soldering ironAmazon ★
- 3D printingPLA filament 1.75 mm (Bambu Lab PLA Basic)Amazon ★
- 3D printingPLA filament 1.75 mm (Polymaker PolyLite PLA Pro)Amazon ★
★ = affiliate link. If you buy through it, we may earn a small commission at no extra cost to you. As an Amazon Associate we earn from qualifying purchases. Check the maker's bill of materials for exact quantities; prices change.
Is it for me?
One of the easiest robots to start with. You'll need basic soldering and the free Arduino IDE. Good for a teen with an adult nearby.
Official links
Summary written by us in plain words. Not affiliated with or endorsed by Dorian Todd. Prices and links last checked Nov 3, 2026. Are you the maker and want something changed? Email us.