Auto-assembled, not yet reviewed

Waveshare WAVEGO

12-DoF ESP32 + Raspberry Pi bionic robot dog; open firmware, commercial kit hardware.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to waveshare/WAVEGO: 2022-05-11 (GitHub, checked 2026-10-01).

Repository activity

  • None: closed commercial kit, no CAD published
  • robot dog12 DoF
  • $242.99vendor kit
Reproducibility33/100Sparse source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
No 3D model yet
No ready source-derived model
No URDF, SDF, MJCF, supported mesh, or supported CAD visual source file found.
No 3D model generated yet

About Waveshare WAVEGO

WAVEGO is Waveshare's 12-DoF bionic dog-like quadruped. The legs use a multi-link design driven by 12 small servos, with an ESP32 handling inverse kinematics and gait generation and an optional Raspberry Pi 4B as a vision host (with its own Raspberry Pi camera for face recognition and color tracking; the OV2640 camera belongs to the ESP32). The GitHub repo is open source (MIT) but contains only the ESP32 Arduino firmware and the Raspberry Pi Python/web software; the mechanical structure (aluminium + PA12) ships as a purchased Waveshare kit rather than as open CAD/STL files. The 18650 cells are sold separately.

Licenses

Hardware
None: closed commercial kit, no CAD published
Software
MIT
Docs
Not published

Degrees of freedom

12 DoF legs 12

Breakdown source

QuadrupedMulti link legssource

How to build Waveshare WAVEGO

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

  1. Order the WAVEGO kit

    The mechanical structure (aluminium + PA12), 12 servos, ESP32 driver board, and camera ship as a Waveshare kit; there are no open CAD files to print.

    Motari summarywaveshare.com/wiki/How_to_Assemble_and_Use

  2. Assemble the multi-link legs

    Power the driver board and bridge G12 to 3V3 to enter assembly mode before fitting each servo arm at the marked angle, then build the four connecting rod sets with their bearings and assemble the body.

    Motari summarywaveshare.com/wiki/How_to_Assemble_and_Use

  3. Calibrate the servos

    The ESP32 ships flashed. Before fitting the legs, join the robot's Wi-Fi hotspot, open the web UI and correct each servo, then attach the leg links. Reflash WAVEGO.ino only if you modify the code.

    Motari summarywaveshare.com/wiki/How_to_Assemble_and_Use

  4. Set up the Raspberry Pi host

    Optionally mount a Raspberry Pi as the host and run its setup script, then use the Flask web app with the Pi camera for face recognition, color tracking and motion detection.

    Motari summarywaveshare.com/wiki/How_to_Assemble_and_Use

  5. Calibrate and drive

    Fit two 18650 cells (sold separately), enable the self-balancing mode and drive over the web UI.

    Motari summarywaveshare.com/wiki/How_to_Assemble_and_Use
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

Waveshare WAVEGO bill of materials

8 rows

Cost to build

$242.99USDvendor kit
  • WAVEGO BASIC US kit; variants up to about 416 USD; 18650 cells not included$242.99vendor kit

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

Waveshare WAVEGO parts, as the source lists them. Prices are the source's, not checked against vendors.

Waveshare WAVEGO bill of materials
PartQtySpecSourceConfidence
WAVEGO BASIC kit structure and base electronicsGrouped from official package contents. This is a commercial kit row, not an open-source manufacturing BOM.
1Body case, basic parts, semi-transparent acrylic panel, base board, 2MP camera, 2.4G antenna, 0.91 inch OLED, cables, screws/standoffs, tools, portable bag, and optional charger selection
Waveshare$242.99 WAVEGO BASIC US price shown on official product page at review time; variants listed up to $410.99waveshare.com/wavego.htm product header and package content, reviewed 2026-06-08
med
Servo pack for 12-DOF leg driveOfficial package contents list this as one servo pack; official docs describe the robot as using 12 servos total.
112 small servos for 12-DOF multi-link legs; official spec table lists 2.3 kg.cm stall torque
Waveshare kit contentsincluded in WAVEGO kit; separate price not listedwaveshare.com/wiki/WAVEGO Overview and waveshare.com/wavego.htm package content
high
Bearing setOfficial product package contents list the bearing quantities; wiki describes the full body joint bearing use.
1Micro thrust bearing x14 and micro ball flange bearing x30; wiki describes 40 bearing sets across body joints
Waveshare kit contentsincluded in WAVEGO kit; separate price not listedwaveshare.com/wavego.htm package content and waveshare.com/wiki/WAVEGO Features
high
ESP32 controller and camera subsystemCore onboard control/camera hardware described by official wiki and product specs.
1ESP32 sub-controller for inverse kinematics and gait generation, with 2MP/OV2640 camera and 2.4G external antenna
Waveshare kit contentsincluded in WAVEGO kit; separate price not listedwaveshare.com/wiki/WAVEGO Overview/Features and waveshare.com/wavego.htm package content
high
ICM20948 9-axis IMUFirmware initializes the motion tracker used for self-balancing mode.
1ICM20948 9-axis motion tracker
Onboard Waveshare electronicsincluded in WAVEGO kit; separate price not listedwaveshare.com/wiki/WAVEGO Features and Arduino/WAVEGO/InitConfig.h at commit 419868d
high
INA219 battery voltage/current monitorWiki spells this as AINA219; firmware uses INA219 voltage and current readings.
1INA219 battery voltage and charging-current monitor
Onboard Waveshare electronicsincluded in WAVEGO kit; separate price not listedwaveshare.com/wiki/WAVEGO Features and Arduino/WAVEGO/InitConfig.h at commit 419868d
high
18650 Li-ion batteriesOfficial product page says unassembled kits do not include cells; ready kits include batteries.
2Two 18650 Li-ion cells, under 67 mm length for unassembled kits; onboard two-series pack described as 5200 mAh
user supplied for unassembled kitsnot included in unassembled kits; ready-kit inclusion onlywaveshare.com/wavego.htm Quick Overview and power specs; waveshare.com/wiki/WAVEGO Features
high
Raspberry Pi host extension packOptional EX/PI4 variant hardware for host-side vision demos; EX explicitly excludes the Raspberry Pi board.
0EX adds Raspberry Pi holder, 5MP wide-angle camera, and cooling fan; PI4 KIT includes PI4B-4GB, 16GB microSD, heatsink, card reader, and power supply option
Waveshare EX / PI4 KIT variantsoptional variant; included only in EX or PI4 KIT selectionswaveshare.com/wavego.htm selection guide and package content
high

Rows from the source's own parts list 4

product/wavego.htmhtml

Source rowQtyPrice and vendorLine
WAVEGO kit variants and price range
1 kit
Waveshare$242.99-$410.99
L2033

product/wavego.htm#package_contenthtml

Source rowQtyPrice and vendorLine
source-listed package contents
multiple kit contents
Waveshareno price listed
L2583

wiki/WAVEGO#Overviewhtml

Source rowQtyPrice and vendorLine
WAVEGO feature and electronics specs
12 servos; 2 18650 cells; 1 controller set
Waveshare wikino price listed
L315

Arduino/WAVEGO/InitConfig.h@419868dc

Source rowQtyPrice and vendorLine
firmware-backed onboard electronics
waveshare/WAVEGO firmwareno price listed
L52

Waveshare WAVEGO source files

6 files

Files stay in the upstream repository under their own licenses; these links open them there.

Waveshare WAVEGO in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

No 3D model has been generated from the project's files yet.

Builds of Waveshare WAVEGO

0 reviewed

No reviewed builds of Waveshare WAVEGO yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to waveshare/WAVEGO: 2022-05-11 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: source-reviewed 2026-06-08.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain Waveshare WAVEGO? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 33/100

Markdown
[![Motari reproducibility score for Waveshare WAVEGO](https://motari.io/api/v1/badge/waveshare-wavego)](https://motari.io/r/waveshare-wavego)
HTML
<a href="https://motari.io/r/waveshare-wavego"><img src="https://motari.io/api/v1/badge/waveshare-wavego" alt="Motari reproducibility score for Waveshare WAVEGO" height="20"></a>

Not fully met yet: cad / mesh present, bom evidence, build instructions (partial), oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed