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.
This is the codebase for current-generation Petoi hardware. If you're on the older NyBoard (ATmega328P), see the main OpenCat repo.
Click either GIF to watch the demo.
BiBoard is the control board for:
The older Bittle and Nybble (NyBoard) are discontinued. BiBoard is the current platform.
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.
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
- AI and computer vision applications
- Raspberry Pi robotics projects
- NVIDIA Isaac simulations and reinforcement learning
- SLAM with ROS using Bittle and Raspberry Pi
Academic and research use: Research Spotlight
- r/OpenCat — firmware code, framework hacking, extending and porting OpenCat
- r/Petoi — hardware Q&A, builds, quadruped coding, curriculum, 3D-printed parts, general discussion
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