The Petoi Bittle: An Open-Source, ESP32-Powered Robot Dog

Yellow and black quadruped robot dog perched on a person's fingers, showing exposed joints and mechanical actuators on its legs.

Discover the Bittle – a palm-sized, AI-powered robot dog built on the ESP32, programmable with Arduino, and ready to bring Boston Dynamics-inspired innovation to your desk, classroom, or lab. Available and fully supported at AIXTOY, your premier platform for cutting-edge AI and STEM kits.

Introducing the Petoi Bittle

The Petoi Bittle is an open-source, programmable, quadruped bionic robot dog. Compact enough to fit in your palm (20cm × 11cm × 11cm) and weighing under 280g, it can also carry a payload of up to 450g beneath its body. Driven by 12 servo motors and capable of executing over 60 distinct motion sequences, Bittle can walk, run, jump, climb onto low obstacles, and perform a variety of tricks on command. It even includes a self-righting function to stand up after a fall and is designed to handle varied terrain—from indoor floors to damp or sandy surfaces.

⭕ Rest

Turns off all servos and places the robot in a lying position. Use this as a “pause” or emergency stop if the robot behaves unexpectedly.

⭕ Balance & Posture Testing

While standing, you can gently push Bittle from the side or prompt it to balance on its hind legs and tail. Its active balance algorithm works to maintain stability even on uneven or wobbly surfaces.

⭕ Movement & Gait Control

· Forward / Left Turn / Right Turn moves the robot in the chosen direction using the current gait.

· Backward is also supported, and can be combined with turning.

· Crawl / Walk / Trot are different gait modes that can be switched and combined with directional input for varied movement styles.

⭕ Calibration & Testing

· Calibration puts Bittle into a calibration pose and temporarily disables the gyroscope.
· March makes the robot step in place—useful for verifying assembly accuracy and servo calibration.

⭕ Gyroscope Toggle

Turn the gyroscope on/off for balance correction. Disabling it can make slower gaits quicker and more stable, but is not recommended for faster gaits like the trot.

⭕ Handling & Terrain Tips

· You can lift Bittle by the middle of its spine to let its legs move freely.

· On high-friction surfaces like carpet, the crawl gait often works best.

· The battery case can be slid along the belly’s center axis to adjust the center of gravity, improving performance in certain gaits.

· Bittle can walk on slopes with inclines up to 10 degrees.

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Power
Battery

Setup
Arduino/Python

Smart Core
Programmable

🤖 Modular Expansion & Hardware Design

Bittle’s mouth includes a clip for attaching expandable modules, such as:

· An intelligent camera

· Gesture sensor

· PIR (motion) sensor

This modularity makes Bittle an adaptable platform for computer vision, IoT applications, and interactive projects. At AIXTOY, we carry a range of compatible sensors and add-ons to help you extend your robot’s capabilities.

Assembly & Power

The pre-assembled version only requires inserting the neck into the body and bending the knees into a natural pose. Be sure to route servo cables from the knee toward the shoulder to avoid pinching during movement.

Press the battery button for 2–3 seconds to power on/off. Remove the insulator from the infrared remote’s battery to begin control. Low battery is indicated by a pause in motion and an audible beep—recharge via the 5V micro‑USB port.

🤖 Software, Motion Design & Open-Source Code

Petoi Desktop App

Written in Python with a Tkinter GUI, this tool lets you:

· Upload firmware

· Calibrate joints

· Design custom motions in a visual skill editor

Motion & Joint Indexing

With 12 servo-driven joints, logical indexing is essential. Joints are ordered by their distance from the torso:

· Head yaw · Head pitch · Tail yaw · Tail pitch

· 4 × shoulder/hip abduction‑adduction

· 4 × shoulder/hip flexion‑extension

· 4 × elbow/knee

🤖 Open‑Source Framework

Bittle is built on the OpenCat open‑source framework. You can program new behaviors—walking backward, dancing, or custom tricks—using:

· Scratch (block‑based)

· C++ (via Arduino IDE)

· Python

It is also compatible with the wider Arduino and Raspberry Pi ecosystems, allowing you to integrate additional sensors, write advanced AI routines, and even connect to ROS (Robot Operating System) for research projects.

The operation interface supports language switching

Why Choose Bittle?

Bittle is more than a robot—it’s a hands‑on platform for learning robotics, coding, and AI. Its open‑source nature, modular design, and professional‑grade movement algorithms make it an ideal tool for education, prototyping, and creative experimentation.

Get Started with AIXTOY

Ready to build, code, and explore? AIXTOY offers the Petoi Bittle alongside detailed guides, compatible accessories, and a curated selection of the world’s most innovative AI and STEM kits. Visit us to begin your robotics journey.

➤ Explore the Petoi Bittle and other advanced AI robotics kits at AIXTOY.com