Original Ainekio: the Eight-Servo Build Journal

Original eight-servo notes#

These are the original Google Docs articles behind the eight-servo Ainekio project, including the earlier virtual-environment experiments. The original robot used an ESP32-S3 and a Sesame-derived body, with two servos per leg. The later twelve-servo robot has its own build record and side-by-side comparison.

Copied from Google Docs on October 12, 2026. Original source links are included.

Publication dates are from the original site. The documents include later additions, including early Generation 2 proposals.

Journal#

Original publication	Article	Contents
July 4, 2026	Robot Familiar Introduction	The original idea, the MetaHuman brain, the body, and the author’s project ambitions.
July 6, 2026	First Steps: Virtual Environment	The Megameal conversation bridge, what was attempted, and its reported results.
July 6, 2026	Motion Systems	The semantic command path, simulator experiment, motion module, and eight-servo hardware direction.
July 7, 2026	Broad Strokes	The July 10 status snapshot and original project reading map.
July 7, 2026	Design Discussion	Hardware alternatives, controller choices, communications, power, fitment, and later provisional Generation 2 ideas.
July 10, 2026	Parts Overview	The full parts list, power diagram, signal map, wiring targets, and assembly considerations.
July 15, 2026	Firmware	The ESP32-S3 control, motion, safety, startup, media, and cross-build record.
July 15, 2026	Software and MetaHuman OS	Cognition, memory, model routing, the robot bridge, validation results, and development plans.

Later V1 revisions#

The early documents include proposals that changed. The older parts list specified a 2600 mAh pack; the V1 build later used a 1000 mAh pack. The provisional GPIO33/34 assignments were superseded because GPIO33–37 are occupied by octal PSRAM on the delivered N16R8 board. The simulator was unsuccessful and retired.

V1 hardware and body design records the later eight-servo components and power arrangement.
Controller firmware points to the maintained S3 firmware and pin map.
ESP32-S3 Build & Firmware Reference — local document copy preserves the September 2 reference linked by those guides. Original Google Doc.
System Specification v1.0 — local plain-text copy preserves the additional specification URL in the site’s original source list. It is a historical protocol and implementation plan, not a current wiring authority. Original Google Doc.

Current project status · Development tracker · Restoration sources and checksums