Abstract
Open Cat ESP32 Quadruped Robot is an open-source Internet of Things (IoT) project. An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development. OpenCatESP32 runs the OpenCat quadruped robotics framework on BiBoard — an ESP32-based development board designed for multi-degree-of-freedom legged robots with up to 12 servos. Developed by Petoi, the maker of futuristic programmable robotic pets. It is built using C++, Arduino, ESP32, Raspberry Pi. The complete source code is publicly available on GitHub under the MIT License, making it a useful reference for students building an Internet of Things (IoT) mini project or final-year project.
1. Introduction
OpenCatESP32 runs the OpenCat quadruped robotics framework on BiBoard — an ESP32-based development board designed for multi-degree-of-freedom legged robots with up to 12 servos. Developed by Petoi, the maker of futuristic programmable robotic pets.
Inspired by Boston Dynamics' Spot, Dr. Rongzhong Li started OpenCat in his dorm at Wake Forest University in 2016. The goal was straightforward: make agile quadruped robots affordable and hackable enough for researchers, educators, and makers — not just well-funded labs.
Quaddle — Petoi's newest OpenCat-lineage quadruped — goes live on Kickstarter Sept 2, 2026. Get notified → (details below)
2. Objective
An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
This project demonstrates how C++, Arduino, ESP32 can be applied to a real-world Internet of Things (IoT) problem.
4. Technology Stack
- Bittle X — mini robot dog & AI robotics kit with voice control
- Also available on Amazon
- Try the simulator
- Nybble Q — mini robot cat & AI robotics kit
5. System Requirements
General requirements for this technology stack — check the README for exact versions.
- Arduino IDE / PlatformIO or a C++ compiler (g++)
- Target board (e.g. Arduino, ESP32) where applicable
- Git (to clone the repository)
6. Installation & Setup
git clone https://github.com/PetoiCamp/OpenCatEsp32-Quadruped-Robot.git
cd OpenCatEsp32-Quadruped-RobotFull setup instructions are in the project README.
7. Future Enhancements
Suggested extensions you can add to make this your own project.
- Add a mobile dashboard using Blynk or Firebase
- Store readings in a cloud database for history charts
- Add alerts via SMS / Telegram when thresholds are crossed
8. Viva / Review Questions
Common questions examiners ask for projects in this domain.
- Which microcontroller / board and sensors are used and why?
- How does the device send data (Wi-Fi, MQTT, HTTP, Bluetooth)?
- Where is the sensor data stored and visualised?
- How is power consumption managed?
- How would you secure the device and its communication?
9. Source Code & License
This project is developed by PetoiCamp and published on GitHub under the MIT License. Please follow the license terms and credit the original author when you use or modify this code.
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