WSAL19525 – PIPPY/en

Documentation notice: This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

Summary

Technical overview of the PIPPY robot's assembly, software setup, and control.

Related products at JW Tech

• WSAL19525 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)
• WSAL19526 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)
• WSAL20972 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)
• WSAL20973 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)

Technical overview

• Controlled by an optional Raspberry Pi 4 Model B running Raspberry Pi OS (Raspbian) with Python.
• Powered by two series-connected 18650 batteries (not included); HY2120 + AO4406A protection circuit guards against overcharge, over-discharge, overcurrent, and short circuits.
• 9-axis motion sensor ICM20948 handles gestures and self-balancing; a 0.91-inch OLED (128×32) displays IP and battery voltage.
• The 5 MP camera with 160° field of view is required for vision features; without it connected to the Pi, webServer.py hangs.
• Web server runs on port 5000; access via Chrome at http://<Pi_IP>:5000. In AP mode, connect PC or phone to the PIPPY hotspot (SSID: PIPPY, password 12345678).
• Keyboard control: W/A/S/D for forward/left/backward/right; I/J/K/L for head movements (up, left, bow, right).
• API example: moveStart(speed, direction, turning); speed 1–50 uses tripod gait, 51–100 uses diagonal gait.
• Vision tracking via CVFL window: START enables binarization; COLOR toggles between black-floor-white-line and white-floor-black-line; L1/L2 and SP adjust line positions.

Commands and examples – verify before use: 

sudo git clone https://github.com/waveshare/PIPPY.git
sudo python3 PIPPY/setup.py
sudo killall python3
sudo python3 PIPPY/webServer.py

Notes and version constraints

• Servo angles must be calibrated via code before assembling the servo arms; post-assembly adjustment requires disassembling the unit.
• Use only black nylon screws to mount the camera; metal screws can cause a short circuit and damage the camera.
• Batteries are not included; only 18650 cells 18 mm wide and up to 65 mm long are compatible.
• If the console fails to open: access the Pi via SSH, terminate running Python processes, then restart webServer.py.
• An SP value that is too small prevents PIPPY from locking onto the target, causing frequent stops; a larger value increases tolerance.
• Color following works vertically only because the camera has 2 degrees of freedom; horizontal tracking is not supported.
• Dependency installation may take minutes to hours depending on network conditions; the Pi reboots automatically and drops the SSH connection.

Source and revision record

• PIPPY - Waveshare Wiki
• Source revision: 79429
• Captured: 2026-09-01T04:25:36+00:00
• SHA-256: 6d42e63728083ed37a3a245c2fa894d582b005bd91654f261fd8d32f8b4d99c6