The option to use Raspberry Pi 4B or Raspberry Pi 5 as a host controller (Raspberry Pi 5 4GB is included and integrated into the device) enables advanced computing functions and real-time data processing. The system cooperates with the ESP32 controller responsible for motion trajectory generation and kinematics handling, allowing Raspberry Pi resources to be utilized for high-level algorithms and processing data from sensors and the camera.

The solution supports development of applications using libraries such as OpenCV, network communication handling, and integration with IoT and AI systems. The host-sub architecture enables parallel execution of control tasks and data analysis, improving operational stability and extending the system with autonomous functions and vision-based capabilities.

The integrated camera with a resolution of 5MP and a 160° field of view enables image acquisition and real-time processing. The module cooperates with Raspberry Pi, allowing direct use of visual data in control algorithms and environment analysis.

Supported functions include facial recognition, color tracking, and motion detection implemented using OpenCV libraries. The wide field of view increases the observable area, which is important in mobile applications and systems reacting to environmental changes. The camera is available in RPI WAVEGO Pro ACCE and PI5 WAVEGO Pro KIT versions.

The design with 12 degrees of freedom uses multi-link leg mechanisms which, combined with inverse kinematics algorithms, enable precise control of limb positions. This approach allows generation of smooth motion trajectories and improves the efficiency of torque transfer from the servos. The robot can perform various gait patterns and dynamic posture changes.

The use of serial bus servos enables feedback transmission of operating parameters such as position and speed, allowing more accurate and repeatable motion control. The drive system architecture supports synchronization of all axes, which is important for executing complex motion sequences.

The mechanical structure of the legs ensures even load distribution during ground contact, improving motion stability and reducing stress on individual drive components. The solution is suitable for applications requiring precise motion reproduction and testing of control algorithms for legged robots.

The use of a 9-axis ICM20948 sensor enables continuous monitoring of the robot's orientation. Data from the accelerometer, gyroscope, and magnetometer are used for posture stabilization and compensation of deviations during movement. This allows maintaining balance and adapting operation to changing ground conditions.

Układ pomiarowy umożliwia szybką reakcję na zmiany położenia, co poprawia kontrolę nad ruchem oraz ogranicza ryzyko utraty stabilności podczas wykonywania sekwencji ruchowych.

Control is performed via a web interface accessible through a browser, using an automatically generated WiFi access point. The solution does not require installation of additional software or environment configuration. The system allows saving commands in JSON format as task files in the ESP32 memory, enabling playback of predefined motion sequences and execution of repeatable operations.

The control interface enables real-time management of basic robot functions, including switching motion modes and triggering previously saved sequences. Wireless communication allows operation without a direct wired connection, increasing flexibility in various application scenarios.

Saved sequences can be used for testing control algorithms and repeatable workflows, making the system suitable for educational environments and robotic prototyping.

The body made of 5052 aluminum alloy and PA12 material ensures high mechanical strength while maintaining relatively low weight. The use of multiple bearing joints improves durability and smooth operation of the mechanisms. The compact design allows the robot to operate in limited workspace environments.

The structure is designed to provide easy access to mechanical and electronic components, facilitating maintenance and modifications during development. The selected materials reduce deformation under load, contributing to stable motion parameters.

The load-bearing structure provides adequate rigidity while maintaining mobility, which is important for executing dynamic motion sequences and operating in various working configurations.