# OpenCatESP32 — OpenCat Framework on ESP32/BiBoard 🚀 **[Quaddle](https://www.kickstarter.com/projects/petoi/quaddle-open-source-desktop-robot-kit/?ref=cbcwga&utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-hero-banner) — Petoi's newest OpenCat-lineage quadruped — goes live on Kickstarter Sept 2, 2026.** [Get notified →](https://www.kickstarter.com/projects/petoi/quaddle-open-source-desktop-robot-kit/?ref=cbcwga&utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-hero-banner) (details below) OpenCatESP32 runs the OpenCat quadruped robotics framework on [BiBoard](https://www.petoi.com/products/biboard-esp32-development-board-for-quadruped-robot?utm_source=github&utm_medium=code&utm_campaign=github-opencat) — an ESP32-based development board designed for multi-degree-of-freedom legged robots with up to 12 servos. Developed by [Petoi](https://www.petoi.com?utm_source=github&utm_medium=code&utm_campaign=github-opencat), the maker of futuristic programmable robotic pets. This is the codebase for current-generation Petoi hardware. If you're on the older NyBoard (ATmega328P), see the main [OpenCat repo](https://github.com/PetoiCamp/OpenCat). [![BittleESP32](https://github.com/PetoiCamp/NonCodeFiles/blob/master/gif/BiBoard.gif?raw=true)](https://www.youtube.com/watch?v=GTgps_H990w) [![BittleGap](https://github.com/PetoiCamp/NonCodeFiles/blob/master/gif/gap.gif?raw=true)](https://youtu.be/1qhNRSQTcG4) *Click either GIF to watch the demo.* --- ## Quaddle mini robot dog — launching on Kickstarter Sept 2, 2026 ![](https://github.com/PetoiCamp/NonCodeFiles/blob/master/gif/quaddleCover.gif?raw=true) [Quaddle](https://www.kickstarter.com/projects/petoi/quaddle-open-source-desktop-robot-kit/?ref=cbcwga&utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-quaddle-section) is Petoi's newest quadruped, **going live on Kickstarter Sept 2, 2026** — a mini desk robot built on the same OpenCat lineage as Bittle and Nybble. - Full quadruped running on just **4 servos** instead of the usual 8–12, which forces genuinely different gait-design and leg-coordination solutions to still get all four legs walking, running, and balancing - Position-feedback servos — readable, not just drivable — which is what makes **Puppet Mode** possible: hand-guide the legs and record a motion directly, no code required - 3D-printable shells and mounts for customization - Same open platform this repo already supports for gait research, reinforcement learning (RL), and sim2real work — a hands-on physical AI platform, not a toy version of the idea - Try it in the [online simulator](https://www.petoi.com/pages/quaddle-robot-dog-simulator?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-quaddle-simulator) before it ships **Source code is not yet public.** It's an upgraded version of the OpenCat project, and its ESP32-S3 code structure is closer to this repo than to the main NyBoard-based [OpenCat repo](https://github.com/PetoiCamp/OpenCat-Quadruped-Robot). We plan to open source it before Quaddle delivery. - Watch this repo and [r/petoi](https://www.reddit.com/r/Petoi/) for the open-source announcement - [Get notified on Kickstarter](https://www.kickstarter.com/projects/petoi/quaddle-open-source-desktop-robot-kit/?ref=cbcwga&utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-notify-link) when it goes live - Check out the [Quaddle Hugging Face page](https://huggingface.co/petoi/quaddle) --- ## About the Project Inspired by Boston Dynamics' Spot, [Dr. Rongzhong Li](https://www.linkedin.com/in/rongzhongli/) 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. Since then: - **30,000+ robots shipped**, cumulative across all channels - **60+ countries** - **$1M+ raised** across two prior Kickstarter and Indiegogo campaigns - **20+ academic papers** cite the platform — see [Research Spotlight](https://www.petoi.com/pages/robotics-research-and-academic-applications?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - One of the most-starred open-source quadruped robot projects on GitHub --- ## Hardware BiBoard is the control board for: - 🐶 [Bittle X — mini robot dog & AI robotics kit with voice control](https://www.petoi.com/products/petoi-robot-dog-bittle-x-voice-controlled?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [Also available on Amazon](https://www.amazon.com/dp/B0FNT6TSVT?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-amazon-buy-link) - [Try the simulator](https://www.petoi.com/pages/bittle-x-robot-dog-simulator?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-bittle-x-simulator) - 🐱 [Nybble Q — mini robot cat & AI robotics kit](https://www.petoi.com/products/petoi-nybble-q-robot-cat?utm_source=github&utm_medium=code&utm_campaign=github-opencat) The older [Bittle](https://www.petoi.com/collections/robots/products/petoi-bittle-robot-dog?utm_source=github&utm_medium=code&utm_campaign=github-opencat) and [Nybble](https://www.petoi.com/collections/robots/products/petoi-nybble-robot-cat?utm_source=github&utm_medium=code&utm_campaign=github-opencat) (NyBoard) are discontinued. BiBoard is the current platform. --- ## Why BiBoard Over NyBoard? The ATmega328P (NyBoard) gets the job done for locomotion. BiBoard is for when your **robotics programming** needs more headroom: - **ESP32 dual-core @ 240 MHz** — handle real-time servo coordination and a perception pipeline simultaneously - **Wi-Fi + Bluetooth built in** — wireless control and data streaming without a dongle - **Up to 12 servos** — full 12-DOF configurations - **Arduino IDE compatible** — same workflow, more horsepower - **Open source** — hardware and software both forkable If you're building an open source robot dog for research, running ROS, deploying a vision model, or just want room to experiment — BiBoard is the right foundation. --- ## Board Configuration **Arduino IDE settings (ESP32 Dev Module):** | Setting | Value | |---|---| | Upload Speed | 921600 | | CPU Frequency | 240 MHz (WiFi/BT) | | Flash Frequency | 80 MHz | | Flash Mode | QIO | | Flash Size | 4 MB | | Partition Scheme | Default 4MB with spiffs | | Core Debug Level | None | | PSRAM | Disabled | Full setup: [Upload Sketch for BiBoard](https://guide.petoi.com/arduino-ide/upload-sketch-for-biboard) --- ## What People Have Built - [AI and computer vision applications](https://www.petoi.com/blogs/blog/tagged/showcase+ai?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [Raspberry Pi robotics projects](https://www.petoi.com/blogs/blog/tagged/raspberry-pi?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [NVIDIA Isaac simulations and reinforcement learning](https://www.youtube.com/playlist?list=PLHMFXft_rV6MWNGyofDzRhpatxZuUZMdg) - [SLAM with ROS using Bittle and Raspberry Pi](https://www.youtube.com/watch?v=uXpQUIF_Jyk&list=PLHMFXft_rV6MWNGyofDzRhpatxZuUZMdg&index=6) - [Research Spotlight](https://www.petoi.com/pages/robotics-research-and-academic-applications?utm_source=github&utm_medium=code&utm_campaign=github-opencat) — academic and research use --- ## Education OpenCat shows up in **AI robotics education** across K-12 programs, community colleges, university labs, and maker spaces — hands-on **physical AI** teaching that goes beyond screen-based coding exercises: - [Robotics education showcases](https://www.petoi.com/blogs/blog/tagged/showcase+education?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [STEM & robotics curriculum resources](https://www.petoi.com/pages/resources-curriculum-stem-coding-robot?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [Robotics competitions](https://www.petoi.com/blogs/blog/robot-competitions-with-petoi?utm_source=github&utm_medium=code&utm_campaign=github-opencat) --- ## Community & Discussion - [r/OpenCat](https://www.reddit.com/r/OpenCat/) — firmware code, framework hacking, extending and porting OpenCat - [r/Petoi](https://www.reddit.com/r/Petoi/) — hardware Q&A, builds, quadruped coding, RL experiments, curriculum, 3D-printed parts, general discussion - [Facebook Group](https://www.facebook.com/groups/385050523510952) — community discussion and builds --- ## Resources - [Petoi Guides](https://guide.petoi.com/) - [AI reinforcement learning with Petoi](https://www.petoi.com/blogs/blog/petoi-robot-ai-reinforcing-learning?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [FinoBot — AI robot dog with Raspberry Pi and ROS2](https://www.petoi.com/blogs/blog/finobot-ai-robot-dog-bittle-x-follows-someone?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [Robotics research with Bittle adapting to different surfaces at Haverford College](https://www.petoi.com/blogs/blog/robotics-research-with-bittle-robot-dog-at-haverford-college?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [Advanced tutorials by the community](https://www.youtube.com/playlist?list=PLHMFXft_rV6MWNGyofDzRhpatxZuUZMdg) - [All kits and accessories](https://www.petoi.com/store?utm_source=github&utm_medium=code&utm_campaign=github-opencat) - [FAQ](https://www.petoi.com/pages/faq?utm_source=github&utm_medium=code&utm_campaign=github-opencat) Follow the project: - [YouTube](https://www.youtube.com/@petoicamp?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-youtube-follow) - [Twitter](https://twitter.com/petoicamp?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-twitter-follow) - [Instagram](https://www.instagram.com/petoicamp/?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-instagram-follow) - [Facebook](https://www.facebook.com/PetoiCamp/?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-facebook-follow) - [LinkedIn](https://www.linkedin.com/company/petoi/?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-linkedin-follow) - [TikTok](https://www.tiktok.com/@petoicamp/?utm_source=github&utm_medium=code&utm_campaign=github-opencat&utm_content=esp32-readme-tiktok-follow)