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Sesame.
A tiny four-legged walker with an OLED face.
Dorian Todd's open-source walker: four legs with two servos each, an ESP32 S2 Mini or his custom board, a 0.96 in OLED for faces, a 3S LiPo in the undercarriage, every link optimised to print without supports. Controlled from a phone over Wi-Fi; animations are sequences of servo angles. Our spec approximates it for pricing; the real files are in his repository.
Pre-order only. No payment is taken.
Review the editable model and component list before ordering.
168 × 79 × 102 mm
computedESP32-S3
catalog19 sourced + 25 printed
computed5 Wh
targetBuilt on someone else’s good idea.
Reference build. The render and the parts list on this page come from our approximation of the design, not from the original CAD. Credit and files belong to the author.
Open source; see the repository for the licence and the original Fusion 360 files.
Inspect the parts.
Plan your build.
The electronics, hardware and custom printed pieces that make up this design. Edit it in chat to update the parts list and estimate, or pre-order the components below.
See the component breakdown
Sourced components, printed parts, wiring and assembly supplies.
Remix it in chat
Ask for a different size, drive, sensor or finish. The model and parts list update together.
Try it in the playground
Drive the model and try movement commands in a 3D scene. This preview does not simulate physical forces or balance.
Your components
BILL OF MATERIALS| Qty | Part | Line |
|---|---|---|
| 8 | MG90S micro servo, metal gear, 9 g | $33.60 |
| 1 | ESP32-S3 dev board, 8 MB PSRAM | $11.00 |
| 1 | 0.96 in OLED display, 128×64, I²C | $5.00 |
| 1 | 3S LiPo pack, 11.1 V 450 mAh (5 Wh) | $9.00 |
| 1 | Li-ion balance charger with barrel lead | $14.00 |
| 1 | 5 V 5 A buck converter | $9.00 |
| 1 | Rocker switch and inline fuse holder | $4.00 |
| 1 | M3 socket screw assortment, 6–20 mm, with nuts | $7.00 |
| 1 | M3 heat-set inserts, 100 | $6.00 |
| 1 | M3 nylon standoff kit | $5.00 |
| 1 | Dupont and JST-XH wiring kit with crimps | $8.00 |
| 1 | USB-C cable, 1 m | $3.00 |
| Qty | Part | Process | Line |
|---|---|---|---|
| 4 | Upper leg link | SLS, PA12 | $17.88 |
| 4 | Lower leg link | SLS, PA12 | $17.60 |
| 4 | Hip servo mount | SLS, PA12 | $20.48 |
| 4 | Foot pad | FDM, TPU 95A | $7.52 |
| 2 | Deck plate | FDM, PA12-CF | $7.60 |
| 2 | Side panel | FDM, PA12-CF | $4.46 |
| 2 | End panel | FDM, PA12-CF | $4.98 |
| 1 | Battery tray | FDM, PA12-CF | $6.85 |
| 1 | Board carrier | FDM, PA12-CF | $3.23 |
| 1 | Display bezel | SLS, PA12 | $4.08 |
| Bought parts | $114.60 |
| Printed parts | $94.68 |
| Instruction book, bags, hex keys estimate | $18.00 |
| One box, shipped estimate | $27.68 |
| Total | $254.96 |
Box 300 × 200 × 120 mm · about 1.2 kg · ships in about 10 days estimate