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THIS TINY ROBOT COSTS ABOUT 50 DOLLARS IN PARTS

Four legs, eight small servos, an ESP32 and a 128x64 OLED face: Sesame by Dorian Todd walks, waves and dances for about 50–60 dollars in hardware components.

by Dorian Todd

FULL CAD BOM FIRMWARE DOCS

RoboticsOpen-hardware

Built withESP32Arduino3D printing

difficulty
●●●○○
time
not stated
license
Apache-2.0
repo
repo ACTIVE4,612 stars

WHAT YOU’LL NEED

Videos
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COMPAREE VERDICT

Sesame is a small four-legged walking robot by Dorian Todd: 8 MG90 180-degree servos (2 per leg), an ESP32 (Lolin S2 Mini recommended, or a Sesame Distro Board), a 128x64 OLED face and a body designed for PLA 3D printing. The README puts it at 50–60 dollars in hardware components; you also need a 3D printer, basic soldering and a basic understanding of Arduino IDE. The repo has CAD (Fusion 360), STL files, build and wiring guides, a BOM and firmware. The robot creates its own Wi-Fi access point and you control it from your phone through a simple web page; there is also a JSON API, a serial CLI and a Python companion app with voice control. The firmware has pre-programmed emotes such as walking, waving, dancing, pointing and resting. Community additions include a browser-based simulator by Jay Li and ML tools by Luke Hollis.

GOOD TO KNOW

  • —CAD (Fusion 360) and STL files for the body.
  • —BOM, build guide and wiring guide in the repo.
  • —Arduino IDE firmware with pre-programmed emotes, web UI over its own access point, JSON API and serial CLI; debugging firmware included.
  • —Sesame Studio desktop app for designing poses and animations; separate Python companion app with voice control.
  • —Apache-2.0 licence.
  • —Board options: Lolin S2 Mini (recommended for DIY), Sesame Distro Board V3 (current, pre-flashed), V2 (legacy, USB-only), V1 with ESP32-DevKitC-32E (legacy).

Parts to buy

6 items

From our check of the build. Exact quantities and part numbers are in the creator’s BOM.

  • 8× 180-degree MG90S servosFind
  • ESP32 (Lolin S2 Mini recommended, or Sesame Distro Board V3)Find
  • 0.96" 128x64 SSD1306 I2C OLEDFind
  • Rocker switchFind
  • WireFind
  • Heat-shrinkFind

Can I build this?

PrintBody parts in PLA, minimal supports; STLs and printing guide in the repo.
Buy8× 180-degree MG90S servos, an ESP32 (Lolin S2 Mini recommended, or Sesame Distro Board V3), a 0.96" 128x64 SSD1306 I2C OLED, a 5V 3A power source (USB-C PD or battery with buck converter), rocker switch, wire, heat-shrink. Full BOM in the repo.
Tools3D printer, soldering iron, Arduino IDE, USB-C cable.
SkillsBasic soldering, 3D printing and a basic understanding of Arduino IDE.
Timenot stated
Cost$50–60 in hardware components, per the README.
SafetyLow-voltage electronics. Ordinary care with soldering and batteries.

Build at your own risk. Projects involve tools, electronics and sometimes mains voltage — follow the creator’s safety notes.

Videos

How I Made This Tiny Walking Robot From Scratch

Dorian Todd on how he designed Sesame.

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Gallery

Start here

Navigation into the creator’s own docs — we don’t rewrite the guide, we route you to the source.

  1. 1.Read the BOM and order parts (Pick your board option (Lolin S2 Mini, Distro Board V3/V2, or legacy V1) and order parts. Make sure the servos are the 180-degree MG90S.)
  2. 2.Print the body parts (Designed for PLA with minimal supports. Follow the printing guide.)
  3. 3.Follow the build guide (Assemble the frame following the build guide.)
  4. 4.Wire the electronics (Use the wiring for your board option.)
  5. 5.Flash the firmware (Requires Arduino IDE. Configure the Wi-Fi AP settings before uploading.)
  6. 6.Test the servos (sesame-motor-tester.ino helps check the servos.)

Resources

Documentation, files and community threads for this build — we link straight to the original sources and never rehost the creator’s files.

KNOWN ISSUES

  • Buy the 180-degree MG90S servos. The BOM warns that otherwise the build will not work.
  • The repo includes a motor tester sketch (firmware/debugging-firmware) to help get the servos running before the full firmware.
  • There are several board options (Lolin S2 Mini hand-wired, Distro Board V3/V2, legacy V1 with ESP32-DevKitC-32E). Follow the wiring guide for the one you have.
  • You need access to a 3D printer and basic soldering skills.
  • Kit pre-orders are currently closed, so plan to source the parts yourself.

Which microcontroller setup should I use?

The README recommends the Lolin S2 Mini for DIY builds. Alternatives are the Sesame Distro Board V3 (current, pre-flashed, supports a Bambu Lab battery), V2 (legacy, USB-only) or the legacy V1 with an ESP32-DevKitC-32E.

Can I use a different servo?

The BOM specifies 8 MG90S 180-degree servos and warns that you have to buy the 180-degree version, otherwise the build will not work.

Do I need Sesame Studio to build this?

No. The firmware includes pre-programmed emotes (walking, waving, dancing, pointing, resting and more). Sesame Studio is a desktop app for designing your own poses and animations.

Can I use this commercially?

The repository is licensed Apache-2.0, which permits commercial use under its conditions (keeping the licence and notices, stating changes).

Is there a kit?

Dorian Todd has offered build kits as pre-orders, but pre-orders are currently closed (round 2 sold out). Otherwise you source the parts yourself from the BOM.

Community builds

No community builds yet — be the first, we feature the best ones.

Discussion1

FROM THE COMPAREE TEAM

Sesame comes with walking, waving and dancing out of the box. What would you teach yours to do first?

CompareeTEAM7d ago

Practical notes from our verification: the repo was last pushed on 13 September 2026 and is Apache-2.0. The README lists the hardware needs plainly: basic soldering, $50–60 in components, a 3D printer and basic Arduino IDE knowledge. The BOM explicitly warns to buy 180-degree MG90S servos. Kit pre-orders are closed at the moment (round 2 sold out), so most builders will source parts from the BOM. The firmware's emotes let it move without any extra software; Sesame Studio and the companion app are optional.

Dorian Todd

Dorian Todd spent over four months designing and researching Sesame. His video 'How I Made This Tiny Walking Robot From Scratch' (14 January 2026) has over 1 million views. He maintains the open-source repo, answers questions on Discord (username starphee), and invites builders to message him about their forks. Build and footage: Dorian Todd.

GitHub Web

Star the project on GitHub

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  • Information is provided without warranty and may become outdated as projects evolve. Prices are indicative bands only — always check the creator’s parts list for current costs.
  • Building and operating any project is at your own responsibility. Protective equipment, safe workshop practice and compliance with local regulations are the builder’s responsibility.
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