Embedded
Sesame Quadruped
A custom-rebuilt open-source quadruped on ESP32-S3 with dedicated power monitoring.
- Servos
- 8x ES08AII
- Compute
- ESP32-S3
- Power
- INA219 monitored
Overview
A ground-up rebuild of an open-source quadruped platform, replacing the stock BOM with components chosen for better torque, power headroom, and observability.
Approach
Modified BOM: EMAX ES08AII servos, a 7.4V LiPo supply, and a Freenove ESP32-S3 as the main compute module. Added an INA219 for power monitoring and battery cutoff, three independent buck-converter rails for clean power separation, and an SPI OLED for live telemetry.
Specifications
- Servos
- EMAX ES08AII x8
- Compute
- Freenove ESP32-S3
- Power supply
- 7.4V 2S LiPo
- Power monitoring
- INA219 I2C
- Display
- SPI OLED
- Rails
- 3x independent buck converters