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An Open Source Bionic Dog-Like Robot Powered by Raspberry Pi





The WAVEGO is a high-DOF bionic dog-like robot that features 12 x 2.3kg.cm large torque servos, reliable structure, and flexible motion, incorporating devices like front camera, 9-axes motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as a sub-controller for connecting rod inverse solving and gait generation, sharing calculating tasks for the host controller, an additional Raspberry Pi can be attached as the host controller for high-level decision operating.


  • 12-DOF, more flexible movement.
  • Multi-link leg structure + inverse kinematics algorithm, increasing the servo effective torque.
  • ICM20948 9-axis motion tracker, can use self-balancing mode.
  • 2.3kg. cm high-torque servo, the locked-rotor torque is up to 5.2kg. cm, and it is more extensible.
  • ESP32 is equipped with an OV2640 camera, which can realize low-latency image transmission with a 2.4G external antenna.
  • It is composed of 5052 aluminum alloy and PA12 nylon parts. There are 40 sets of bearings used in each joint of the whole body, and the structure is firm and reliable.
  • Integrate a variety of interactive devices, including a 0.96inch OLED screen, two RGB-LED indicators, an active buzzer, etc.
  • The example code is developed using Arduino IDE, no need to manually configure the compilation environment, ESP32 will automatically establish a WIFI hotspot when it is turned on, you can use a mobile phone (Android/iOS) or computer (Linux/Windows/Mac) to connect and log in to the control page, just need to install a Chromium-based browser, no app is required.
  • With a charging interface and automatic download circuit, you can use it while charging.
  • Onboard two series 18650 batteries, 5200mAh, larger output current, and more powerful servo.
  • Onboard lithium battery protection circuit, with anti-overcharge, anti-over-discharge, anti-over-current and short-circuit protection functions.
  • The onboard AINA219 acquisition chip is convenient for real-time monitoring of battery voltage and charging current.
  • 2*5P expansion interface is reserved for the remaining IO and serial port of ESP32. The functions include RGB expansion, RX0, TX0, G21, G15, G12, 3V3, 5V, and GND, which can be used to communicate with the host computer or connect to other devices.
  • The Raspberry Pi can be installed as the upper computer to communicate with the lower computer through the serial port. As the lower computer, ESP32 can share a lot of computing power of the rod inverse solving and gait generation, leaving more resources for the Raspberry Pi for high-level function development.
  • The Raspberry Pi kit is equipped with a cooling fan and an ultra-wide-angle lens. The demo for Raspberry Pi includes a web application based on Flask-Streaming, which can use functions based on OpenCV such as face recognition/color tracking/motion detection.
  • All codes are open source and provide rich development documents and tutorials.


Basic Pack
Expension Pack
PI4-4GB Add-on

Assembly Guide

Be sure to understand the following content before assembling.
1. Since this product uses a large number of servos, the servos are used as the component of the angle changing mechanism, and the wrong assembly will cause the robot to fail to operate normally.
2. Refer to the product assembly tutorial,use the correct screws to assemble the corresponding module, otherwise it may cause the angle deadband of the Leg link action to be too large or damage the structural parts.
3. When it comes to the assembly part of the anti-loose nut, the tightening degree of the nut should not be too tight or it cannot rotate normally, nor too loose or it will shake outside the rotation plane.
4. All the above problems can be avoided as long as the following assembly instructions are strictly followed.
5. We also provide a pre-assembled version package and the servo is callibrated, so you do not need to assemble.



WAVEGO Developing

Note: The provided ESP32 board has been flashing, you can just assemble and use it as the video. This guide is provided for the users who would like to modify the codes themselves.

Install Arduino IDE

  • Download the Arduino IDE from Arduino.cc website.
  • Please choose the Arduino IDE version according to your OS.
  • Download and install the IDE according to the prompt.

Install Arduino core for the ESP32

  • Run the Arduino IDE, and click File.


  • Click Preferences.



  • Restart the IDE, choose Tools > Board > Boards Manager, to open the Boards Manager.
  • Entuer ESP32 to search the library and click Install.


  • Wait for installing.


  • After installing, you can use the Arduino IDE for developing the ESP32 board.

Download demo code and dependency libraies

  • You need to install libraries below by the Libraries Manager:
    • ArduinoJson
    • Adafruit SSD1306
    • Adafruit PWM Servo Driver Library
    • ICM20948 WE
    • INA219 WE
    • Adafruit NeoPixel
  • Click Tools > Manage Libraries to open the manager.


  • Type the library in the search box, find the correct libraries and install them.
    • ArduinoJson
    • Adafruit SSD1306
    • Adafruit PWM Servo Driver Library
    • ICM20948 WE
    • INA219 WE
    • Adafruit NeoPixel
  • Install or update the library.

QQ截图20211130135130.png QQ截图20211130135223.png


  • The Arduino Demo codes include the programs for ESP32, use C/C++/html languages, and are developed by the Arduino IDE.
  • The Demo codes in the RPi folder are examples for Raspberry Pi, using Python 3 (The Web application is based on flask-streaming).

Upload example to WAVEGO

  • Run the WAVEGO/Arduino/WAVEGO/WAVEGO.ino.


  • Choose Tools > Port to check the COM port.
  • The COM number should be different in different PC, choose the correct COM number.


  • Connect the driver board to the computer.
  • Choose Tools > Port to check the COM port.
  • The COM number should be different in different PC, choose the correct COM number.


  • Click Tools > Boards: > ESP32 Arduino > ESP32 Dev Module, and choose ESP32 Dev Module.


  • Configure as the below options:
Upload Speed: "921600"
CPU Frequency: "240MHz(WiFi/BT)"
Flash Frequency: "80MHz"
Flash Mode: "QIO"
Flash Size: "4MB(32Mb)"
''' Partition Scheme: "Huge APP(3MB No OTA/1MB SPIFFS)"
PSRAM: "Enabled"'''
  • PSRAM should be set as Enabled, otherwise, the camera image may be blank.


  • Click the ```Upload``` button to upload an example.
  • Note that if you connect the WAVEGO to Raspberry Pi, the auto-download circuit is disabled, you need to disconnect the Raspberry Pi and then upload the example.


  • Wait for the uploading.
  • The codes are successful to upload with the information that Leaving... Hard resetting via RTS pin....


WAVEGO Multi-function Expansion Interface

  • Since ESP32 has higher computing power and integrates WIFI and Bluetooth, and supports the use of Arduino IDE for development, we choose ESP32 as the main control chip of WAVEGO. Multi-function expansion interface is shown in the figure below.


  • As shown in the example above, connecting G12 and 3V3 can make the device enter assembly mode.
  • LED: There are two RGB LEDs on the driver board, and the numbers on the program are 0 and 1 respectively. If you need to connect more RGB-LEDs (WS2812), you can extend this interface. Correspondingly, the numbers start from 2.
  • The control functions:
  • LED_NUM: The number of the lamp beads, such as two on the control board, then LED_NUM is 0 or 1. If the first lamp bead expanded on the LED-OUT port is controlled, LED_NUM=2.
setSingleLED(LED_NUM, matrix.Color(R, G, B));
  • G21:This IO is also used to control the buzzer on the driver board. When G21 is low, the buzzer starts to sound, and when G21 is high, the buzzer does not sound.
  • G15: This IO port is not used, you can use these two IO ports to expand other modules.
  • G12:By default, this IO port is used to set the assembly mode. When the G12 is connected to the 3V3, the device enters assembly mode. In this mode, the RGB will turn orange, and control all the servos connected to the device to rotate to the middle of the encoder, and then install the servo swing arm according to the specified angle.
  • RX TX: Corresponding to the UART_0 of ESP32, it can be used to communicate with other devices. It can be connected to the TX RX of the Raspberry Pi, and it can communicate with each other after the ground is supplied.
  • Note: When the RX TX is connected with the TX RX of the Raspberry Pi, the automatic download function cannot be activated, so if you need to upload a new program to the ESP32, you need to disconnect the connection between UART_0 and the Raspberry Pi.
  • The row below <TX RX GND 5V 5V> can be used to connect the Raspberry Pi, 5V and GND can be used to power the Raspberry Pi, and TX RX can be used to communicate with the Raspberry Pi.

WAVEGO Onboard Devices and Interfaces

  • The WAVEGO driver board integrates a variety of devices, most of which use IIC control (GPIO 33 as SCL, GPIO 32 as SDA) to communicate with other devices, including: ICM20948 attitude sensor, PCA9685 servo control chip, INA219 voltage detection and OLED screen (SSD1306).
  • This guide is only used to introduce the interface. For API calls of specific programs, please refer to the API documentation of the product.
  • IIC interface

GPIO 33 as SCL GPIO 32 as SDA

  • IIC address

ICM20948 0x68 INA219 0x42 SSD1306 0x3C PCA9685 0x40

  • Others


Raspberry Pi guides

  • The main control board of WAVEGO uses ESP32 for connecting rod inverse solution and gait generation, which is used to transmit to the servo for lower computer control. The positioning holes on WAVEGO can be used to install copper posts and fix Raspberry Pi 4B. WAVEGO uses multi-function The expansion interface supplies power to the Raspberry Pi, and uses UART0 to communicate with the Raspberry Pi. In the default program, the Raspberry Pi uses ttyS0 to communicate with the WAVEGO, with a baud rate of 115200.
  • We offer WAVEGO-RPi versions with Raspberry Pi expansion kits, RPI WAVEGO ACCE or PI4B-4GB WAVEGO KIT. For more information, please refer to the WAVEGO with Raspberry Pi WIKI homepage.



Demo Codes


A: Equipped with 2 18650 type batteries, that is, the direct size is 18mm and the length is 65mm. The standard voltage of a single cell is generally 3.7V, and the fully charged voltage is generally 4.2V.

Answer: The default account of the Raspberry Pi system: pi; password: raspberry.

Answer: The Linux system does not print the input content when entering the password, that is, touch typing is required. Type raspberry directly on the keyboard and press Enter.


Open Arduino IDE -> tools and set PSRAM to "enable".


If you require technical support, please go to the Support page and open a ticket.