The robot that exists today#

Ainekio’s working V1 is a four-legged robot built around an ESP32-S3 controller and eight MG90S servos. Each servo turns a joint to a chosen angle, with two joints per leg. The controller runs prepared poses and movement sequences; MetaHuman OS supplies the conversation and decision-making software connected to it.

The body uses a black, Sesame-derived printed chassis, red feet and face module, a cyan OLED display, and a camera below the display. Its electronics and wiring are exposed. The cover shows the prospective V2 hybrid, not the installed V1 hardware.

What the mechanics can do#

V1 can perform scripted walking and gestures within the controller’s motion limits. Turns are open-loop: the controller follows a sequence without measuring and correcting the final heading. A requested turn angle is therefore an estimate. Floor friction, leg geometry, cable clearance, power stability, and alignment of the servo’s output arm all affect where the robot ends up.

The owner reports useful torque margin—the motors have turning force to spare in the observed conditions—and operation on the existing 5 V / 5 A supply. Measurements under representative loads are still needed for power planning. Gestures and walking use the same motion limits and stop behavior.

Documented components#

The September 2 ESP32-S3 Build & Firmware Reference records these V1 parts. The controller handles the body’s immediate work: motor signals, sensors, display, and audio. It does not run all of MetaHuman OS.

Part and purpose	Documented V1 configuration
Controller: runs body firmware	Freenove ESP32-S3-WROOM CAM / FNK0085, N16R8; 16 MB flash and 8 MB octal PSRAM
Joint motors	Eight MG90S servos, two per leg
Face display	0.96-inch SSD1306 I2C OLED, 128×64 pixels
Camera: captures still images and limited preview	OV3660
Audio input and output	Digital microphone and external I2S amplifier/speaker
Storage: assets and diagnostic records	LittleFS filesystem and low-priority microSD logs
Battery	Sea Jump 2S pack, 7.4 V nominal, 1000 mAh
Servo supply: steps battery voltage down	5 V / 5 A buck converter

Flash stores firmware and persistent assets. PSRAM provides temporary working memory, including room for media buffers. I2C and I2S are the electrical interfaces used for the display and audio hardware respectively.

The 1000 mAh battery capacity corrects an older 2600 mAh parts list. V2’s P4 board, battery or power bank, and wiring harness have not been finalized.

Wiring and power#

Use the firmware’s S3 pin map for wiring. GPIO numbers identify the controller’s input/output pins. GPIO33–37 are already occupied by octal PSRAM on the delivered N16R8 board, so older provisional assignments cannot be used. The firmware guide lists the current peripheral pins.

V1 measures battery voltage through an analog-to-digital converter (ADC) for telemetry and warnings. That reading does not itself protect the battery; pack protection depends on the installed hardware. Powering the controller over USB also does not test the separate supply under motor loads.

How this build leads to V2#

Frame8 is a set of V1 enclosure designs. Its Blender and STL files are now tracked in the body repository, correcting the August site’s description of them as untracked. Those files alone do not identify the installed enclosure.

The separate local 12servo/ work contains OpenHarmony Puppy V2 leg references and converted Blender assemblies. A September 6 note reports an experimental print. By September 10, the CAD work includes four legs, a widened chassis, three board models, revised covers, and a camera/display carrier. The V2 parts and assembly record documents that sequence. September 14 photographs now show printed leg prototypes assembled in several poses. The latest leg update records the shell-fit problem, horn measurements, and later foot alternatives. These records do not yet establish complete V2 powered motion or load performance.

V2 adds a sideways hip joint to each leg. Its chassis will favor supported joints, stiff linkages, motor weight near the body, and a low center of gravity. These choices reduce unwanted flex and the load caused by long lever arms. Accessible wiring and replaceable parts should make repairs easier, while camera sight lines, display visibility, and cable clearance need to survive the full range of movement.

The V2 roadmap covers the leg measurements, controller work, power tests, and motion trials. Servo power is planned to branch directly from the supply, bypassing the P4 board, with a common ground shared by both. Supply choice depends on measured startup, standing, walking, and loaded-motion results.