BiBoard is a four-legged robot ESP32 microcontroller board developed by Petoi. With a high-performance processor, larger memory and storage, and wireless connections, it is mainly designed for developers and engineers working on multi-degree-of-freedom (MDOF) Multi-legged robots with up to 12 servos. An audio function is also included.

Features:

drive 12 PWM servos
an IMU (Inertial Measurement Unit) is used for detecting body status (orientation and acceleration) to balance
Infrared remote controller
3 sockets for external modules.
USB Type-C port for uploading firmware and serial communication.
64Kbit I2C EEPROM
DAC and audio application.
Built-in connectivity support

Serial
Bluetooth
WiFi

Compatible with Petoi open source quadruped robotics kits such as robot dog Bittle and robot cat Nybble
Raspberry Pi support - the board also provides a 2×3 socket for mounting Raspberry Pi. You should use wires or adapters to mount the Raspberry Pi on the BiBoard, instead of mounting directly. The Pi allows robotics kits such as Bittle to analyze more complex sensory data, connect to the Internet, and make decisions by itself

The source code is open-source on GitHub with a detailed user manual.

Example application

Petoi's bionic robot dog Bittle fully utilized BiBoard to coordinate 8 degree-of-freedom(DOF) sophisticated motions

Bittle walks over an 8.5cm(3.35 inch) gap. More details from the tutorial.

Specifications:

Controller board : BiBoard
CPU : ESP32-WROOM-32D 520K SRAM 16MB QSPI Flash
External EEPROM : 64Kbit
IMU : 6-Axis MPU6050
PWM channels: 12 (driving up to 12 PWM servos)
Port: 3
USB Downloader: USB Type-C Port
DAC and Audio amplifier: Mono channel amplifier
Built-in connectivity & features: Serial UART, I2C network, infrared receiver, speaker, Bluetooth, WiFi
Raspberry Pi support: Use wires or adapters

BiBoard with extension hat and voice command module

This option extends BiBoard's functionality with an extension hat, which provides an onboard voice command module and four grove sockets. You will need to solder the hat onto BiBoard.

Documentations: