WSAL21742 – WAVEGO/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

WAVEGO is an open-source, dog-like robot with 12 degrees of freedom, controlled via a web interface. It uses an ESP32 as a sub-controller and optionally a Raspberry Pi as the host computer.

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Technical overview

The robot features 12 servos rated at 2.3 kg·cm torque (locked-rotor torque up to 5.2 kg·cm).
It uses an ICM20948 9-axis motion tracker for self-balancing functionality.
The structure is made from 5052 aluminum alloy and PA12 nylon, with 40 bearings distributed across all joints.
Additional sensors include an OV2640 camera on the ESP32, a 0.96-inch OLED screen, two RGB LEDs, and an active buzzer.
Power is supplied by two 18650 batteries (5200 mAh each) with integrated protection against overcharge, over-discharge, overcurrent, and short circuits.
An INA219 chip allows real-time monitoring of battery voltage and charging current.
The ESP32 handles inverse kinematics and gait generation, while the optional Raspberry Pi manages high-level tasks such as face recognition or color tracking.
Control is achieved through the ESP32's Wi-Fi hotspot; only a Chromium-based browser is required.

Notes and version constraints

If program upload fails, you may need to manually enter download mode.
If the setup script fails on the Raspberry Pi, network issues or missing dependencies are possible causes.
Exact battery life varies significantly with usage and ambient temperature, ranging from 1–2 hours in normal operation to 20–30 minutes under heavy load.
If the camera flashes black, PSRAM must be enabled in the Arduino IDE for it to function correctly.

Source and revision record

WAVEGO - Waveshare Wiki
Source revision: 69983
Captured: 2026-09-03T03:23:50+00:00
SHA-256: 5e86ae9ff0d07b4e4c7e25a4693f912ed0f62b39d09014c47bbfeb3ae398e90c