本页目录

01-Overview

Overview

RIG-Puppy is a compact 5-DOF desktop AI robot dog. Compared with common 4-DOF desktop robots, it adds a waist-twist joint, making waves, cute motions, rocking, stretching, and hugs more expressive.

From an open-source perspective, this RIG-Puppy documentation has two layers:

Mechanical and hardware: 3D-printable shell, five UART bus servos, ESP32-S3 mainboard, round LCD, camera, microphone, speaker, IMU, battery, and light module.

Firmware and ecosystem: the Puppy board source in the RIG series development repository rig_omni, including Puppy board configuration, motion control, actions, expression assets, and remote-control support.

Highlights

Category	Capability
Robot form	Puppy is a 5-servo robot dog with gait, head tracking, and preset actions
Voice AI	Offline wake word, cloud ASR/TTS, VAD, AGC
Emotion display	EAF animation engine based on LVGL, 20+ expressions
Motion control	Multi-servo control, IMU data, preset actions
Connectivity	Xiao Lu mini app provisioning, OTA update, HMAC activation
MCP tools	Extensible remote command framework
Camera	ESP32-S3 camera integration and snapshot tools
Remote control	BLE remote-control support in Puppy source
Reproduction	3D-printable structure with local STEP reference model

Puppy Firmware Source

The RIG series development repository hosts firmware for multiple RIG products. This wiki focuses only on RIG-Puppy. For Puppy development, the important areas are the shared services and boards/puppy/.

rig_omni/
  main/
    application.cc/h      application lifecycle
    mcp_server.cc/h       MCP remote-control server
    ota.cc/h              OTA update
    display/              LCD, LVGL, EAF animations
    audio/                audio, wake word, processors
    protocols/            MQTT, WebSocket
    boards/
      common/             IMU, buttons, BLE, battery, camera
      puppy/              RIG-Puppy 5-servo dog board type

Quick Specs

Item	Value
Size	About 12cm x 8cm x 13cm
Weight	About 180g
DOF	5 DOF, including waist twist
Controller	ESP32-S3
Display	240 x 240 round LCD, GC9A01 in the Puppy firmware repository
Camera	GC0308/OV2640 depending on kit version
IMU	QMI8658C in the Puppy firmware repository; check actual hardware batch
Audio	I2S microphone + speaker
Servos	Puppy: five UART bus servos, XGO protocol
Battery	2S lithium battery; check actual label for capacity