Desktop Embodied AI Pet: Open-Source Robo-Dog RIG-Puppy | Voice Wake-up, Waist Twisting & Cute Gestures, Lightsaber Effects

As a benchmark product of Luwu Intelligence’s RIG series, the smart desktop pet RIG-Puppy (nickname: Lulu) perfectly integrates the creative freedom of 3D printing with immersive embodied intelligent interaction. More than a 5-DOF quadruped robot built with robust motion control technology, it is a cyber lifeform on your desktop that grows and evolves alongside you.

Full-stack self-developed technology redefines the embodied AI brain. Powered by the high-performance ESP32-S3 chip, Lulu comes pre-installed with Luwu Intelligence’s fully self-developed LUWU OS. It supports direct connection to Luwu’s official cloud platform, forming a complete end-to-cloud ecological closed loop. Empowered by advanced cloud scheduling capabilities, Lulu is deeply integrated with the Qwen Large Language Model, enabling continuously upgraded cognitive and conversational abilities.

Exclusive ecosystem crafts a one-of-a-kind digital soul. Paired with the official mini-programXiao Lu Tongxue, the robot supports one-click Bluetooth fast network configuration and unlocks an in-depth Agent cultivation system. Users can freely switch between exclusive AI agents and dynamically customize character settings. With an independent memory library, real-time emotional feedback, and personalized trait parameters, Lulu develops unique personal characteristics through long-term companionship and interaction, forming an exclusive spiritual bond with every user.

Open-source design unlocks unlimited creative potential. Inheriting pure geek genes, RIG-Puppy fully open-sources its shell 3D printing files and underlying code. Whether you need a futuristic desktop companion for stress relief in daily life or a practical platform for in-depth learning of programming and robot control, RIG-Puppy offers boundless possibilities for exploration and secondary development.

1. Core Highlights
   Ultra-fast Interactive Response Powered by Cloud Technology
   Say goodbye to link latency plaguing traditional third-party systems. Built on the fully self-developed LUWU OS, the device connects directly to Luwu’s official cloud servers for instant wake-up and stable data transmission. Paired with a high-sensitivity audio pickup system, it accurately captures voice commands, delivering responsive wake-up performance as natural as instinct.
   Advanced Cognitive Engine Driven by Large Language Models
   Beyond rigid command libraries, the system integrates cutting-edge large language models including Qwen. It boasts outstanding semantic comprehension and logical reasoning capabilities. Whether you ask for a joke, request news analysis, or share thoughts and feelings openly, it breaks free from mechanical execution and delivers thoughtful, humanized responses.
   Customizable Personality for a Unique Companion
   This is the soul of your exclusive digital companion. Via the Xiao Lu Classmate mini-program, you can customize a one-of-a-kind Agent character for Lulu. Equipped with an independent memory bank, emotion feedback system and personality parameters, it will learn your preferences and adapt to your speaking style during long-term interaction. Gradually, it evolves from a standard smart device into a one-of-a-kind companion tailored just for you.
   5-DOF Multimodal Lifelike Expression
   Inner thoughts are vividly brought to life physically. Leveraging the computing power of cloud-based large models, Lulu translates virtual thinking into fluid movements via high-precision 5-degree-of-freedom joints. Combined with dynamic facial expressions on the head display and immersive audio from the speaker, it presents emotions visually, audibly and tangibly, creating a highly lifelike interactive experience.
   Evolvable Smart Ecosystem
   Constant evolution defines this smart companion. Thanks to the closed-loop architecture of self-developed LUWU OS, the desktop pet supports continuous over-the-air upgrades. New Agent roles, updated large model capabilities and expanded motion libraries will be rolled out regularly, constantly extending its potential alongside the growth of the Luwu ecosystem.

2. Hardware Specifications
   Main Control Module: ESP32-S3-WROOM-1-N16R8 (Xtensa Dual-core 32-bit processor, 240 MHz main frequency), supporting 2.4 GHz Wi-Fi & Bluetooth 5
   Motion Servos: EM3 bus servos | Dimensions: 28.5×12×20 mm | Weight: 9 g | Operating Voltage: 5-8.4 V | Torque: 3.0 kg·cm
   Display: 1.09-inch round full-color TFT SPI screen (240*240 resolution) for text and expression display
   Visual Perception: GC0308 camera
   Audio Pickup: MEMS microphone (Sensitivity: -26dB±3dB) with ambient noise suppression
   Audio Output: 8Ω 2W full-range speaker (Frequency response: 200Hz-20kHz)
   Lighting Module: 700mm 3V chasing light strip (laser sword accessory)
   Power Supply: 500 mAh lithium polymer battery | Charging: Type-C 5V/1A

3. Physical & Motion Parameters
   Body Dimensions: 12 cm (L) × 8 cm (W) × 13 cm (H); Horizontal range extended by ±2 cm via waist rotation
   Net Weight: 180 g
   Degrees of Freedom (DOF): 5-axis articulated joints
   Waist joint: Rotation range ±30°
   Leg joints: Swing range from -90° to 90° (forward & backward)
   Motion Performance: Forward/Backward speed: 6 cm/s | Rotation speed: 5°/s with smooth movements
   Battery Life:
   Standby: ≥ 4 hours
   Regular interaction (Voice + occasional movements): ≥ 2 hours
   High-frequency motion mode: ≥ 1 hour

 Why Choose RIG-Puppy?

Genuine voice interaction, no remote control required

Wake word: "Xiao Lu Tongxue"

Supported voice commands:

• "Say hello" → Front leg waving + waist twisting

• "Act cute" → Crouch with waist twisting + alternating leg movement

• "Activate lightsaber" → 70mm meteor light on the back lights up

• "Take a photo" → Activate GC0308 camera

• "Move forward / Move backward / Turn" → Gait movement

Innovative 5-Degree-of-Freedom Design (4 legs + waist joint)

Unlike conventional 4-servo robotic dogs, RIG-Puppy features an exclusive waist servo. It delivers more natural turning, improved balance, and expressive emotional movements such as "hugging" and "dog paddle".

Stylish Appearance & Versatile Accessories

• 1.09-inch round TFT color screen: Displays expressions and device status

• 70mm meteor lightsaber: Installed in the rear slot, presenting stunning dynamic lighting effects once powered on

• GC0308 camera: 0.3MP resolution for photo-taking interaction

• Consumer-grade EM3 bus servos: Built-in clutch protection. The servos can be freely adjusted manually after power-on without damage. Compact, lightweight and equipped with angle feedback.

Streamlined Electronic Structure, No Messy Wiring

• High-performance EM3 UART bus servos with ID addressing support

• Daisy-chain connection for 5 servos

• Mainboard with integrated charging circuit, supports USB-C direct charging (5V/1A)

RIG-Puppy (Lulu) Desktop AI Robot Dog - Full Replication Guide

Target Audience: Geek developers who own 3D printing devices, have basic electronics skills, and want to experience the full manufacturing process from scratch.
RIG-Puppy (Chinese name: Lulu) is a flagship product of the Luwu Intelligence RIG series. Unlike other desktop quadruped robots, it is equipped with an additional waist joint (the 5th Degree of Freedom). Combined with EM3 bus servos and the LUWU OS core system, it delivers anthropomorphic actions like coquetry and twisting, as well as rich multimodal interaction.
Phase 1: Hardware Procurement (BOM)
Core Electronic Kit
Recommended Solution: To ensure full compatibility, it is advised to purchase the official integrated electronic kit for the RIG-Puppy smart desktop pet directly.
⚠ Important Reminder: Do NOT use SG90 or MG90S servos. This project is developed based on the UART bus protocol, and regular PWM servos are incompatible. Please use EM3 serial bus servos (2.3kg·cm torque with clutch protection) exclusively.
Servos: 5 × EM3 serial bus servos (ID addressing supported, 3-wire interface)
Battery: 2S 7.4V soft-pack lithium battery (500mAh) with protection circuit board
Signature Accessories
Lightsaber: 70mm 3V chasing light module (lights up automatically with dynamic lighting effects)

Structural Parts Fabrication (3D Printing)

Printed Parts List
Make sure to print all the components below. After printing, trim the holes with a file to ensure smooth servo installation.
Main Body Parts: Main frame, front shell, front bottom shell, rear bottom shell, battery cover
Limbs: Left front leg, right front leg, left rear leg, right rear leg
Transmission & Decorative Parts: Waist rotating shaft, screen cover, camera housing, lightsaber, leg decorative pieces (4 pcs), shaft fasteners

Firmware Flashing (Inject Core Firmware)

Operation Tips
Before assembly, connect all components to the main control board first. Verify that the whole robot works properly, then proceed to print structural parts and complete assembly. When flashing firmware, make sure the main board is connected to the battery and the power switch is turned on.
ℹ Factory Firmware NoteThe main board of this kit is pre-flashed with the latest firmware before delivery. You may skip this chapter directly and move on to the next stage during initial assembly. This section is only for reference when you need to upgrade the firmware or reset the system later.
Visit https://rig.xgorobot.com to flash the latest firmware version. If your computer fails to recognize the serial port (no CH34x port detected), please install the CH34x driver.

Secondary Development

Development Manual
Document Abstract
This chapter presents the underlying technical details of RIG-Puppy for developers, including hardware architecture principles, analysis of the LUWU OS software framework and secondary development guidelines. It helps you fully understand the robot and expand its functionalities.
1.1 System Architecture
RIG-Puppy adopts a highly integrated single-chip architecture. All perception, control and AI logic are processed independently by the ESP32-S3, with no additional co-processor required. This design delivers high performance while greatly cutting hardware costs and development complexity.
Schematics, 3D models, firmware source code, firmware files and assembly tutorials of this project are open-sourced. It is ideal for learning robot motion control, large language models, multimodal interaction, IoT communication and other related technologies.
1.1.1 Hardware Abstraction Layer
All hardware modules communicate with the main controller via standard bus protocols to achieve modular decoupling.
Main Controller Core: ESP32-S3-WROOM-1-N16R8 (Dual-core, 240MHz, 2.4G Wi-Fi + BLE 5.0)
Motion Bus (UART): Controls 5 EM3 serial bus servos through TX/RX serial lines. It supports ID addressing and status feedback, which greatly simplifies wiring.
Vision Link (DVP/SPI): The GC0308 camera captures images via the DVP interface. The 1.09-inch TFT screen refreshes expressions in real time through the SPI interface.
Audio System (I²S):
Input: INMP441 MEMS digital microphone (high-sensitivity sound pickup)
Output: MAX98357A power amplifier driving an 8Ω 2W speaker
Attitude Sensing (I²C): Onboard 6-axis IMU (TDK ICM-42670) for real-time attitude calculation and dynamic balance control.

The mainboard integrates power management and signal switching functions. See the physical picture below:
Power Domain: Built-in lithium battery charging circuit (Type-C 5V/3A input). Power supplies for servos and logic circuits are isolated from each other.
Debug Interface: UART0 is led out for firmware flashing and log output.
Peripheral Expansion: Reserved 5V/3.3V/GND pins for connecting chasing lights or other sensors.

• Code Repository (GitHub): https://github.com/Xgorobot/RIG-Puppy

• Documentation & Knowledge Base : wiki.xgorobot.com 

  Includes complete API documents and advanced development tutorials.