Hardware · Voice-controlled robot · personal build
Sesame Built
Sesame is an open-source conversational robot designed by Dorian Todd. I rebuilt it on my own electronics instead of the original PCB, then wrote the firmware that ties everything together.
- Controller
- ESP32-WROOM, custom firmware
- Display
- SSD1306 OLED over I²C
- Actuation
- PCA9685 PWM driver, 8 micro servos
- Power
- UBEC regulated supply
- Audio
- Microphone and speaker, hands-free voice I/O
- Enclosure
- Modified STL top cover
A single ESP32 handles the microphone, speaker, display and eight servos. It listens for voice commands, talks back and moves in response. I also edited the enclosure's top-cover STL so the new electronics fit.