Public BOM audited. This is a source-bound system evidence record, not an independent rebuild.
Quadruped · Sesame Robot project / Dorian Borian
Sesame quadruped — Wiring Option A
Nested Markdown tables · commit-addressable.
No complete rebuild evidence package found.
The robot name is not the version boundary.
RCI preserves the exact source surface and revision conditions instead of applying one prototype or current product page to every unit.
Platform boundary
Sesame quadruped — Wiring Option A
Core Electronics plus Wiring Option A (S2 Mini / hand-wired harness) at sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523; Options B and C are alternatives and are not silently installed together.
Version state
Addressable source snapshot
The source is commit-addressable but not tied to a numbered hardware release or one completed robot serial.
Lifecycle boundary
Changes remain attached to the source.
The project marks Distro Board V1 as phased out while supporting V2/V3 and hand-wired alternatives; this record selects only the current hand-wired Option A path.
Responsibility party
Sesame Robot project / Dorian Borian
RCI maps the named public responsibility party; inclusion does not imply endorsement, partnership or unit-level verification.
1 bounded lifecycle or procurement relations.
Replacement, upgrade, EOL and regional procurement signals remain separate from current availability and as-built identity.
standard-configuration-change
Wiring Option A — S2 Mini / hand-wired harness → Wiring Option B V3/V2 or Option C V1 distro-board path
The pinned responsibility-party BOM and wiring guide publish three alternative electronics approaches; the selected profile includes Core Electronics plus Option A only.
System impact: Controller, carrier/PCB, firmware state, USB/battery capability, assembly method and power limitations differ, so the three paths must not be flattened into one simultaneously installed BOM.
Open: No RCI build compares the alternatives, and the selected record does not normalize Option B/C component rows into Option A.
Strongest supported conclusion
A quantified build-specific electrical list, explicit mutually exclusive wiring options, a current/legacy board boundary, linked build guide and Apache-2.0 repository license.
Largest rebuild gap: The selected twelve rows exclude fasteners, printed parts, battery rows and exact harness topology, so they are not a complete procurement or as-built package.
Editorial boundary: Representative retailer search links do not verify exact supply. The selected Option A boundary must not be merged with the Distro Board V1/V2/V3 alternatives.
Twelve gates separate a parts list from a rebuild package.
Partial means a source contains useful material but does not close the exact revision, quantity, part identity or unit-level boundary.
| Evidence dimension | State | What the state means here |
|---|---|---|
| Exact platform revision | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Versioned BOM snapshot | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Line-item quantities | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Manufacturer part numbers | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Supplier links | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Custom-part production files | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Electrical interconnect definition | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Software / firmware binding | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| License boundary | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Change, EOL and substitution history | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Unit-level as-built manifest | Not published | The selected sources do not publish this evidence dimension. |
| Independent rebuild evidence | Not published | The selected sources do not publish this evidence dimension. |
Sesame BOM: Core Electronics (Both Builds) plus Wiring Option A
The count below preserves the responsibility party's publication structure; it is not silently flattened into unique purchasable components.
Selected count
12 rows / list items
Eight shared core rows plus four Option A rows. “Buy 10 for spares” remains separate from the eight installed servos; pack and assortment rows remain purchase boundaries.
Format
Nested Markdown tables
RCI did not treat the publication format as a normalized database table.
Next evidence gate
Normalize without inventing.
Resolve exact part identity, quantity scope, placement, revision and substitution state while retaining nested assemblies, alternatives and generic groups as explicit boundaries.
As-built state
Not published
A public list does not establish what one serialised unit actually contained.
No manufacturer identity is safely linked from the selected rows.
These are responsibility-party BOM mentions, not partnership, endorsement, verified supply or exact-component equivalence.
Generic or unregistered identities remain unlinked.
RCI will add a relationship only after the source publishes a manufacturer identity that maps unambiguously to the directory.
8 bounded nodes and 7 source-supported interface relations.
RCI publishes a connection only when the selected responsibility-party source explicitly supports the endpoints or architecture. A BOM co-occurrence, component capability or engineering convention is not enough.
external-host node
External Arduino IDE programming host
Computer used to flash the S2 Mini motor tester and production firmware over USB-C and observe the serial monitor.
Identity boundary: Host SKU, operating system, Arduino IDE version, ESP32 board package, USB controller, physical port and firmware dependency lock are not published.
Source rows: sesame-option-a-usb-c
power node
Alternative USB-C 5 V / 3 A tethered source
Option A tethered-power path requiring a USB-C data/power cable and a source capable of 5 V / 3 A.
Identity boundary: Source SKU, charger/host role, USB-C/PD negotiation behavior, cable e-marker, connector condition, protection and measured output are not frozen; this path is an alternative to battery power.
Source rows: sesame-option-a-usb-c
power node
Alternative battery input boundary
Battery-powered Option A path routed through the rocker switch and buck converter; the core selected twelve-row profile does not include a battery row.
Identity boundary: Battery SKU, chemistry, connector, capacity, protection, charge state and physical installation are not part of the selected Option A normalized records; the project separately recommends a Bambu Lab 7.4 V pack.
Source rows: sesame-option-a-rocker, sesame-option-a-buck
power node
Switched buck and hand-wired 5 V / ground rails
KCD1 switch, generic 5–12 V to stable 5 V / 3 A buck, 22 AWG power/ground buses and eight three-pin headers on the Option A protoboard.
Identity boundary: Buck model, switching topology, trim state, rail impedance, connector pinout, fuse, reverse-polarity protection, ground layout and measured load behavior are not frozen.
Source rows: sesame-option-a-rocker, sesame-option-a-wire22, sesame-option-a-protoboard, sesame-option-a-headers, sesame-option-a-buck
control node
Lolin/WeMos ESP32-S2 Mini controller
One variant-named ESP32-S2 Mini mounted with an optional protoboard backplane in the Option A internal frame.
Identity boundary: Exact vendor order code, PCB revision, serial, flash capacity, firmware hash, pin map and calibrated physical board are not bound to one unit.
Source rows: sesame-option-a-s2mini, sesame-option-a-protoboard
actuation node
Eight MG90S hip and leg servos
Eight 180-degree all-metal MG90S rows connected as motor positions 0–7 in the selected hand-wired build.
Identity boundary: Manufacturer, authentic/clone identity, voltage, torque/current curve, serials, horn geometry, calibration, installed condition and measured behavior are not published.
Source rows: sesame-option-a-mg90s, sesame-option-a-headers
control node
SSD1306 128×64 I²C OLED
One 0.96-inch SSD1306 I²C OLED mounted in the top-cover slot and branched from the S2 Mini.
Identity boundary: Module vendor, PCB revision, I²C address, pull-ups, wire assignment, firmware display driver and physical unit are not frozen.
Source rows: sesame-option-a-oled
assembly node
Sesame Option A frame and hand-wired harness assembly
Eleven printed parts, internal wire channels, hand-wired protoboard harness, heat shrink and zip-tie bundling described by the pinned build flow.
Identity boundary: Printed files are referenced outside the selected twelve normalized electronics records; no material lot, print settings, dimensions, solder-joint map, continuity record or serialised as-built assembly is bound here.
Source rows: sesame-option-a-protoboard, sesame-option-a-wire22, sesame-option-a-wire30, sesame-option-a-heatshrink, sesame-option-a-zipties
| From → to | Relation | Published support | Still unresolved |
|---|---|---|---|
| External Arduino IDE programming host → Lolin/WeMos ESP32-S2 Mini controllerbidirectional | data-controlUSB-C flashing and serial-monitor path | The pinned build guide instructs S2 Mini builders to connect a reliable USB-C cable, flash the motor tester in Arduino IDE, open the serial monitor and later flash production firmware.dorianborian/sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523 | Host and USB identities, cable data capability, board package, boot mode, firmware hashes, serial settings and successful enumeration are not frozen. RCI has not connected or flashed a physical controller.Physical validation: none. |
| Alternative USB-C 5 V / 3 A tethered source → Switched buck and hand-wired 5 V / ground railssource-to-target | powerAlternative USB-C 5 V / 3 A tethered rail path | The pinned Option A wiring guidance states that the S2 Mini hand-wired build supports USB-C PD tethered power and that Sesame needs at least 5 V / 3 A at the rails.dorianborian/sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523 | The source does not publish exact USB negotiation, bypass/connection around the battery buck, rail injection point, current allocation, protection or measured transient behavior. This alternative path must not be energized together with an unverified battery source; RCI has not applied power.Physical validation: none. |
| Alternative battery input boundary → Switched buck and hand-wired 5 V / ground railssource-to-target | powerAlternative battery → rocker switch → buck → 5 V rail path | The pinned BOM and wiring notes require battery power to pass through the rocker switch and 5–12 V-to-5 V buck before reaching the rails.dorianborian/sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523 | Battery identity is outside the selected twelve records; connector, polarity, fuse, buck trim, wire lengths, state of charge and load margin are not frozen. This is an alternative to tethered USB-C power, not evidence of simultaneous dual-source operation.Physical validation: none. |
| Switched buck and hand-wired 5 V / ground rails → Lolin/WeMos ESP32-S2 Mini controllersource-to-target | powerShared regulated 5 V controller rail | The project states that the battery buck supplies a stable 5 V for motors and MCU and describes shared hand-wired 5 V and ground rails.dorianborian/sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523 | Exact controller power pin, USB backfeed isolation, ground topology, voltage tolerance, brownout margin and observed current are not published. RCI has not measured the controller rail.Physical validation: none. |
| Switched buck and hand-wired 5 V / ground rails → Eight MG90S hip and leg servossource-to-target | powerShared 5 V / ground header rails to eight servos | The Option A guide instructs soldering the 5 V and ground lanes across all three-pin headers; the BOM publishes eight MG90S servos and a stable 5 V / 3 A buck requirement.dorianborian/sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523 | Per-servo current, simultaneous stall demand, connector polarity, rail drop, wire heating, brownout behavior and safety margin are not published or measured. The build guide warns that movement can crash on battery power; RCI has not powered or loaded the servo bank.Physical validation: none. |
| Lolin/WeMos ESP32-S2 Mini controller → Eight MG90S hip and leg servossource-to-target | data-controlEight 30 AWG motor data leads, positions 0–7 | The pinned Option A guide calls for eight equal-length 30 AWG data wires and the build guide identifies motor positions 0–7 for tester-driven alignment.dorianborian/sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523 | Exact ESP32 GPIO map, pulse frequency/width, wire length, connector assignment, calibration offsets, firmware hash and timing jitter are not frozen. RCI has not emitted PWM, observed motion or checked joint assignment.Physical validation: none. |
| Lolin/WeMos ESP32-S2 Mini controller → SSD1306 128×64 I²C OLEDbidirectional | data-controlResponsibility-party-described OLED I²C branch | The pinned wiring guide says the OLED connections branch from the microcontroller, while the BOM identifies the display as an SSD1306 I²C module.dorianborian/sesame-robot commit 270864ff710259aa42c5a69f4b6676ee28807523 | SDA/SCL pins, I²C address, voltage domain, pull-ups, cable mapping, display-driver version and functional output are not frozen. RCI has not scanned the bus or displayed content.Physical validation: none. |
12 source items converted into claim-bounded records.
Identity, quantity and installed-hardware boundaries remain separate fields; a generic source label is never promoted to an exact orderable model.
| Source item | Class | Identity | Quantity boundary | Role + unresolved evidence |
|---|---|---|---|---|
| MG90S all-metal micro servosCore Electronics | actuationInstalled / build item | variant-namedMG90S · 180 degree | 8 unitEight installed servos are published; the source separately recommends buying ten to retain two spares. | Hip and leg actuationNo manufacturer, lot, voltage or torque-test boundary is selected. |
| 0.96-inch SSD1306 I2C OLEDCore Electronics | controlInstalled / build item | variant-namedSSD1306 I2C OLED · 128×64 | 1 unit1 source-table unit; not an RCI-verified as-built count. | Status displayNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| USB-C data/power cableCore Electronics | cableInstalled / build item | generic-description5 V / 3 A requirement | 1 unit1 source-table unit; not an RCI-verified as-built count. | Flashing and tethered power/dataNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| KCD1 panel-mount rocker switchCore Electronics | powerInstalled / build item | variant-namedKCD1 | 1 unit1 source-table unit; not an RCI-verified as-built count. | Main power switchingNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| 22 AWG silicone wire kitCore Electronics | cableInstalled / build item | generic-descriptionNo exact identity published | 1 bundle1 source-table unit; not an RCI-verified as-built count. | Power and ground bus wiringNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| 30 AWG silicone wire kitCore Electronics | cableInstalled / build item | generic-descriptionNo exact identity published | 1 bundle1 source-table unit; not an RCI-verified as-built count. | Signal harness wiringNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Heat-shrink assortmentCore Electronics | materialInstalled / build item | generic-descriptionNo exact identity published | 1 bundle1 source-table unit; not an RCI-verified as-built count. | Joint insulationNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Small zip tiesCore Electronics | fixtureInstalled / build item | generic-descriptionNo exact identity published | 1 bundle1 source-table unit; not an RCI-verified as-built count. | Internal harness bundlingNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Lolin/WeMos ESP32-S2 MiniWiring Option A | controlInstalled / build item | variant-namedLolin / WeMos · ESP32-S2 Mini | 1 unit1 source-table unit; not an RCI-verified as-built count. | Option A robot controllerNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Small protoboardWiring Option A | controlInstalled / build item | generic-descriptionapproximately 5×7 cm | 1 unit1 source-table unit; not an RCI-verified as-built count. | Option A hand-wired carrierNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| 3-pin male headersWiring Option A | mechanical-hardwareInstalled / build item | generic-descriptionNo exact identity published | 8 unit8 source-table units; not an RCI-verified as-built count. | Servo breakout connectorsNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| 5–12 V to 5 V / 3 A buck converterWiring Option A | powerInstalled / build item | generic-descriptionstable 5 V / 3 A output | 1 unit1 source-table unit; not an RCI-verified as-built count. | Battery-to-motor/MCU regulationNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
Every conclusion returns to a selected source.
Links point to the responsibility party's material. RCI does not republish third-party BOM rows, CAD or retailer content through this profile.
Sesame robot bill of materials ↗
Core electronics, three alternative wiring paths, power, fasteners and tools
Commit 270864fSesame robot repository ↗
Build guide, printable files, PCB evidence and repository license
Commit 270864f · Apache-2.0Correction path
Know a newer revision or an exact as-built record?
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