A small four-legged desk robot built around an ESP32-S3 camera board. It walks on eight MG90S servos, looks around with a pan/tilt head, has an animated face on a 2" display, hears with a MEMS mic, talks through a small speaker, and can hold real voice conversations.
- Everything runs on the robot: walk engine, face, camera face detection and recognition, wake word, web controller, and voice chat (Gemini Live, straight from the ESP32 – no server needed).
- Phone controller over WiFi: drive, pose, emotes, camera view, talk through the robot, settings.
- Modes: remote control, Explore, Desk companion (clock, timers, weather, reactions), Life (autonomous).
- 3D-printed body: the servos press into their pockets and the shells clip together.
Created by Sunil J.
HANDBOOK.md (or open HANDBOOK.html in a browser) – parts, printing, step-by-step assembly drawings, wiring, flashing, servo mapping and calibration, and a guide to the code.
firmware/ PlatformIO project (ESP32-S3, Arduino on ESP-IDF)
gait/ the walk on its own (one header + examples) for improving the gait, PCA9685 or direct servos
hardware/ printable parts: one 3MF with every part, STLs, and the Fusion design (.f3d)
HANDBOOK.md / .html the build handbook
docs/ drawings, wiring diagram (docs/tools/ has the scripts that make them)
cd firmware
pio run -e oreo -t upload
Then join the Oreo WiFi on your phone and open http://192.168.4.1.
| What | License |
|---|---|
Firmware (firmware/, gait/) and scripts |
GPL-3.0-or-later |
3D parts (hardware/) |
CERN-OHL-S-2.0 |
Handbook (HANDBOOK.md, HANDBOOK.html) and drawings (docs/) |
CC BY-SA 4.0 |
You may build, change and share Oreo, also commercially, as long as you share your changes under the same licenses and keep the credits. Oreo started from the Apache-2.0 Sesame robot project; see NOTICE for all third-party code and art.