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WAVEGO 12-DOF Bionic Dog-Like Robot

WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
WAVEGO 12-DOF Bionic Dog-Like Robot
Ex Tax: R4,086.09
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WAVEGO, 12-DOF Bionic Dog-Like Robot, Open Source For ESP32 And PI4B, Facial Recognition, Color Tracking, Motion Detection

Powered by ESP32 sub controller & Raspberry Pi 4B host controller


The WAVEGO is a high-DOF bionic dog-like robot which features large torque servos, reliable structure, and flexible motion, incorporating devices like front camera, 9-axes motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as sub controller for connecting rod inverse solving and gait generation, sharing calculating task for the host controller, an additional Raspberry Pi can be attached as the host controller for high-level decision operating.

Product Features
  • Overall 12-DOF, multi connecting rods leg design, increasing the servo effective torque
  • A real time operating system is used as sub controller for connecting rod inverse solving and gait generation, sharing calculating task for the host controller and improving the gait solving efficiency
  • Ultra compact structure design, allows using on the table, aluminum alloy + nylon structure materials, ensuring strength while keeping it light weight
  • Additional Raspberry Pi can beattached as the host controller to enable OpenCV high-level functions, demo codes including facial recognition, motion detection, color tracking, and more. Reserved extension interface for secondary development, along with user manual and secondary development documents.
Selection Guide

* the Raspberry Pi board is NOT included in the WAVEGO EX kit.

Basic pack
Extension pack 
PI4B-4GB add-on  
Pre-assemble option 
Raspberry Pi 4 Controller

More Powerful Processor, Richer Multi-Media Capability, Faster Networking

High-DOF, More Flexible Motion

Overall 12-DOF, Multi Connecting Rods Leg Design + Inverse Kinematics Algorithm,
Significantly Increasing The Servo Effective Torque

Ultra Compact Structure Design

5052 Aluminum Alloy And PA12 Nylon Structure Materials, 40 Sets Of Bearing Joint All Over The Body,
Rugged And Reliable Structure, Ensuring Strength While Keeping It Light Weight

Self-Balancing Posture

Embedded High Precision 9-Axes Motion Tracker ICM20948
Accommodating To Different Terrains, Keeping The Camera Stable By Self-Balancing

5MP 160° Wide Angle Camera*

Allows Using OpenCV-Based Functions Like Facial Recognition, Color Tracking, Motion Detection, And More

facial recognition


color tracking

* the 5MP camera is only included in WAVEGO EX and PI4 KIT.
Remote Control Via Web

Auto-Generated WiFi Hotspot On Startup, Needs No Compiling Environment Configuration,
Allows Connecting To And Login The Control Page Via Smartphone Or PC Browser, Without Installing App

Developing High-Level Functions

An Raspberry Pi Can Be Attached As Host Controller To Communicate With The Sub Controller Via UART,
The ESP32 Sub Controller Will Share Lots Of Calculating Task Like Connecting Rod Inverse Solving And Gait Generation, Retaining More Raspberry Pi Performance For Developing High-Level Functions

Highly Integrated Base Board


  • Li-ion and Li-po batteries are quite unstable. They may cause fire, personal injury, or property damage, if they're not properly recharged or used.
  • Do not reversely connect the polarities when recharging or discharging the battery. Do not use inferior charger/charging panel to recharge the battery.
  • Do not mix use old batteries with new ones, avoid using batteries of different brands.
  • When buying Lithium battery, should always make sure the battery specification is compatible with the expansion board. Choose batteries from formal manufacturer, and ensure the batteries will work stably and safely by aging test.
  • Lithium batteries have limited cycle life, they will also deteriorate as time goes by. Should be replaced with new ones when the batteries reaching their max cycle life, or working over two years, whichever comes first.
  • Should be placed carefully and properly, keep it away from inflammables and explosives articles, away from children, avoid any safety accident caused by careless storage.
Product nameWAVEGO high-DOF bionic quadruped robot
Stand uplength 218mm, width 116mm, height 152mm
Lie downlength 228mm, width 116mm, height 127mm
Overall weightBASIC: 465g (with batteries)
EX / PI4 KIT: 554g (with batteries)
DOF12 overall, 3 per single leg
Demo codeFreeRTOS + Raspberry Pi OS
Available gaitshake hands | stand up | crouch slowly | diagonal gait | jump | self-balancing
Motion extensionProviding motion programming example, including flexible Bezier curve speed motion function
Max loadBASIC: 300g
EX / PI4 KIT: 200g
Dimensions23.2 x12.1 x25.25 mm
Weight13.0 ± 1g
Operating voltage6V
Idle speed0.1sec/60° (100RPM)
Stalling (
Rated current350mA
Control methodPulse width modification
Control system typeDigital comparator
FreeRTOS demoweb-based real time video streaming
Raspberry Pi OS demoreal time video streaming | facial recognition | color tracking | moving object detection
Note: all the demo codes are open sourced, the Raspberry Pi OS demo is based on open source projects flask-streaming and OpenCV
ESP32 sub controllerProcessor: Xtensa LX6 dual-core processor @240MHz
Flash: 448KB+4MB
WiFi standard802.11b/g/n
Bluetooth standardBluetooth 4.2, including traditional Bluetooth (BR/EDR) and Bluetooth low energy (BLE)
External port2*5P multi-function extension port (host controller communication, power supply selection, assembly mode selection, etc.)
DC battery charger jack
Type-C (download, UART communication, peripheral expansion)
Power supply

Battery type: 18650 Li-ion batteries (NOT included)

Supply voltage: 7-8.4V
Recharge voltage: 8.4V
Protection: over charge/discharge protection, over current protection, short circuit protection, reverse proof, equalizing charge, stable and safe operating
Output voltage: provides 5V output for other host controller
Resources & Services


* Resources for different product may vary, please check the wiki page to confirm the actually provided resources.

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