The ICM20948 motion sensor provides measurement of the robot's spatial orientation across nine axes. Integration of an accelerometer, gyroscope and magnetometer enables precise determination of the robot's position and supports self-balancing algorithms, allowing the robot to maintain a stable posture even during dynamic movement or when operating on uneven terrain.

The IMU continuously provides real-time data on linear acceleration, angular velocity and the Earth's magnetic field direction. These measurements are used to calculate the robot's spatial orientation (roll, pitch, yaw) and to continuously correct its posture during movement. As a result, the system can quickly respond to changes in ground inclination, compensate for structural tilting and maintain a stable stance while individual legs perform stepping motions.

The robot generates its own Wi-Fi access point on startup. Control is performed through a Web interface accessible from a browser on a computer or smartphone. This approach does not require installing dedicated software or configuring a programming environment, allowing quick and convenient operation of the robot.

The control interface operates through an HTTP server running directly on the ESP32 microcontroller. The control page provides elements for managing robot movement, gait parameters and basic system functions, which can be adjusted in real time from the browser. Communication takes place directly between the control device and the robot through a local Wi-Fi network, enabling fast transmission of control commands without the need for external network infrastructure.

The platform is equipped with a 0.91" OLED display that can present basic diagnostic information and the robot’s operating status. The display content can be modified through the Web application or via UART communication with a host controller.

The screen can show information such as network connection parameters, device IP address, Wi-Fi interface MAC address and battery supply voltage. This allows quick verification of system status without the need to connect to the control interface.

Near the display there are also hardware interface elements such as the power button, a DC 5.5 × 2.1 mm charging connector and an expansion port for connecting additional modules. The ESP32 Wi-Fi module antenna enables stable wireless communication with control devices.

The mechanical structure of the robot includes dedicated mounting holes designed for installing a camera compatible with the platform. This solution enables implementation of vision systems and image processing algorithms. The dedicated mounting area allows stable installation of camera modules used in embedded systems while enabling cable routing without modifying the robot’s structure.

The camera is positioned at the front of the platform, providing a favorable field of view in relation to the robot's direction of movement. This arrangement facilitates observation of the surroundings and supports environmental analysis during robot navigation. The mounting structure also allows installation of lightweight brackets or additional modules cooperating with the vision system, increasing the platform’s experimental capabilities.

Such a design simplifies integration of the robot with projects involving image analysis, environmental monitoring systems and experimental applications in the field of mobile robotics.

The project documentation includes complete source code, example programs and a description of communication interfaces enabling development of custom control software. The provided materials allow modification of motion algorithms and implementation of additional robot control functions.

The platform enables programmatic control of mechanisms such as:

• Gait Vector Motion Control
• Joint Angle Control
• Attitude Angle Control
• Self-Balancing Mode switching
• Cartesian coordinate control based on inverse kinematics (Inverse Kinematics Control)

The robot can be controlled not only through the built-in Web application accessible from a browser on a computer, tablet or smartphone, but also programmatically using communication interfaces such as UART, HTTP or ESP-NOW. The open system architecture allows development of custom control applications, implementation of motion algorithms and integration with automation systems or research projects in the field of mobile robotics.

The platform allows installation of a Raspberry Pi 4B or Raspberry Pi 5 computer acting as a host controller. Communication with the ESP32 controller is performed through the UART interface. The ESP32 handles low-level computations such as inverse kinematics of the leg mechanism, servo position interpolation and gait trajectory generation.

This task distribution reduces the computational load on the host computer while ensuring stable real-time control of the drive system. As a result, the Raspberry Pi can perform more complex operations such as camera image analysis, sensor data processing, motion trajectory planning or implementation of autonomous navigation algorithms.

The system architecture enables the creation of a multi-layer control system in which the ESP32 is responsible for fast hardware-level operations, while the Raspberry Pi acts as a high-level computing unit integrating perception, planning and decision-making algorithms.