Penguin bot
About the Penguin bot PCB
Penguin bot is an open source ESP32 PCB design by jeevan9s, published on GitHub. It is a 4-layer board measuring 89.5 × 62.6 mm, with 141 components from 75 distinct parts.
Its main chip is the ESP32-S3-WROOM-1U-N8R8, from the ESP32 family. Other key parts include the HY2120-AB, LP5907MFX-2.8, LP5907MFX-1.2, DRV8833PW and MCP23017_ML. By type, the board carries 52 capacitors, 39 resistors, 13 diodes, 11 ICs, 10 connectors and 4 transistors.
It belongs with the robotics & motion, power & battery and sensors designs in this gallery.
From the project
intelligent hybrid robot
Hybrid differential legged-wheeled biped rover for embodied AI, computer vision, and autonomous navigation.
- penguin - Status - Overview - Features - Controller - Mechanical - Architecture - Systems - Electrical - Power System - Microcontroller - Motor Drivers - Vision Interface - Sensor and I2C Interface - Bugs - Mechanical - Chassis - Leg Assembly - Firmware - Architecture - Drivers - Engine - State \& System Definitions - Controllers \& Locomotion - Behaviour - Networking - GUI - Gallery
Main components on the Penguin bot
Penguin bot bill of materials (BOM)
141 components, 75 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | HY2120-AB | SOT95P280X140-6N | IC1 |
| 1 | ESP32-S3-WROOM-1U-N8R8 | ESP32-S3-WROOM-1U | U1 |
| 1 | LP5907MFX-2.8 | SOT-23-5 | U2 |
| 1 | LP5907MFX-1.2 | SOT-23-5 | U3 |
| 1 | DRV8833PW | TSSOP-16_4.4x5mm_P0.65mm | U4 |
| 1 | MCP23017_ML | QFN-28-1EP_6x6mm_P0.65mm_EP4.25x4.25mm | U5 |
| 1 | TPS5405DR | SOIC127P599X175-8N | U6 |
| 1 | AMS1117-3.3 | SOT-223-3_TabPin2 | U7 |
| 1 | DMP4065S-7 | SOT-23 | U8 |
| 1 | LSM6DSL | LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y | U9 |
| 1 | TPS62143 | VQFN-16-1EP_3x3mm_P0.5mm_EP1.68x1.68mm_ThermalVias | U10 |
| 1 | AO3400A | SOT-23 | Q1 |
| 1 | SI2393DS | SOT-23 | Q2 |
| 1 | 2N7002 | SOT-23 | Q3 |
| 1 | FS8205A | SOT95P280X125-6N | Q4 |
| 1 | USB_C_CONN | USB_C_Receptacle_G-Switch_GT-USB-7010ASV | J1 |
| 1 | CAM_HEADER | Hirose_FH12-24S-0.5SH_1x24-1MP_P0.50mm_Horizontal | J2 |
| 1 | WM14973 BATT_BALANCE_HEADER | CONN_SD-105313-100_03_MOL | J3 |
| 1 | WM16898 TOF_HEADER | CONN_SD-105313-100_07_MOL | J4 |
| 2 | I2C_JUMPER | PinHeader_1x04_P1.27mm_Vertical | J5, J6 |
Show 55 more
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | WM14974 SERVO_CONN | CONN_SD-105313-100_04_MOL | J7 |
| 1 | WM1875 BATT_CONN | MOLEX_436500204 | J8 |
| 1 | MTR_HEADER_1 | CONN_SD-105313-100_06_MOL | J9 |
| 1 | MTR_HEADER_2 | CONN_SD-105313-100_06_MOL | J10 |
| 1 | SMT-0540-S-R | XDCR_SMT-0540-S-R | BZ1 |
| 1 | F8137 Polyfuse | Fuse_1210_3225Metric_Pad1.42x2.65mm_HandSolder | F1 |
| 1 | SW_Boot | SW_5-B-B-B-A_XKB | SW1 |
| 1 | SW_Reset | SW_5-B-B-B-A_XKB | SW2 |
| 1 | GND_TP_DRILL | TestPoint_THTPad_D1.0mm_Drill0.5mm | TP2 |
| 1 | VBATT_TP_DRILL | TestPoint_THTPad_D1.0mm_Drill0.5mm | TP4 |
| 1 | 3V3_TP_DRILL | TestPoint_THTPad_D1.0mm_Drill0.5mm | TP6 |
| 2 | ID_LM66100DCKR | SOT-363_SC-70-6 | UE1, UE2 |
| 1 | CAM_STAT_LED | LED_0603_1608Metric | D1 |
| 1 | DBG_LED | LED_0603_1608Metric | D2 |
| 1 | WIFI_LED | LED_0603_1608Metric | D3 |
| 1 | SMAJ9.0A | D_SMA | D5 |
| 1 | BATT_PLUG_LED | LED_0805_2012Metric | D6 |
| 1 | BZT52C12 | D_SOD-323 | D7 |
| 1 | SS34 | D_SMA | D8 |
| 1 | BATT_LED | LED_0805_2012Metric | D9 |
| 1 | MOT_V_LED | LED_0603_1608Metric | D10 |
| 1 | USB_LED | LED_0805_2012Metric | D11 |
| 1 | 3V3_LED | LED_0805_2012Metric | D12 |
| 1 | 1N4148W | D_SOD-123 | D13 |
| 1 | SERVO_V_LED | LED_0603_1608Metric | D14 |
| 1 | FerriteBead | R_0805_2012Metric | FB1 |
| 1 | 10UH 10uH | IND_IFSC_1515AH_VIS | L1 |
| 1 | 2.2UH 2.2uH | L_Wurth_WE-LQSH-4020 | L2 |
| 1 | 1UF 1uF | C_0402_1005Metric | C1 |
| 5 | 1UF 1uF | C_0603_1608Metric | C2, C3, C5, C6, C38 |
| 16 | 0.1UF 0.1uF | C_0603_1608Metric | C4, C10, C12, C14, C17, C18, C28, C33 +8 |
| 2 | 22UF 22uF | C_0805_2012Metric | C7, C25 |
| 8 | 10UF 10uF | C_0805_2012Metric | C8, C13, C23, C31, C35, C42, C47, C49 |
| 6 | 0.1UF 0.1uF | C_0402_1005Metric | C9, C11, C15, C16, C48, C52 |
| 2 | 1NF 1nF | C_0603_1608Metric | C19, C20 |
| 1 | 10NF 10nF | C_0402_1005Metric | C21 |
| 1 | 2.2UF 2.2uF | C_0402_1005Metric | C22 |
| 2 | 100UF 100uF | CAP_EEEFK1V101P | C24, C40 |
| 1 | 0.1UF 0.1uF | C_0805_2012Metric | C26 |
| 1 | 10NF 10nF | C_0603_1608Metric | C27 |
| 4 | 22UF 22uF | C_1206_3216Metric | C29, C32, C37, C51 |
| 2 | 3.3NF 3.3nF | C_0402_1005Metric | C30, C50 |
| 10 | 10K 10k | R_0402_1005Metric | R1, R2, R7, R12, R13, R17, R23, R28 +2 |
| 2 | 22 | C_0402_1005Metric | R3, R4 |
| 2 | 4.7K 4.7k | R_0402_1005Metric | R5, R6 |
| 7 | 330 | R_0402_1005Metric | R8, R10, R30, R31, R34, R35, R40 |
| 1 | 150 | R_0402_1005Metric | R9 |
| 1 | 200 | R_0402_1005Metric | R11 |
| 3 | 1.2K 1.2k | R_0603_1608Metric | R14, R18, R36 |
| 3 | 10K 10k | R_0603_1608Metric | R15, R22, R24 |
| 3 | 100K 100k | R_0603_1608Metric | R16, R25, R32 |
| 2 | 680 | R_0603_1608Metric | R19, R20 |
| 2 | 200 | R_0603_1608Metric | R21, R26 |
| 1 | 47K 47k | R_0603_1608Metric | R27 |
| 2 | 5.1K 5.1k | R_0603_1608Metric | R37, R38 |
Penguin bot design files
The KiCad project lives in the jeevan9s/penguin-bot repository on GitHub; these links point at the commit this page was built from.
Penguin bot: common questions
What microcontroller does the Penguin bot use?
The Penguin bot is built around the ESP32-S3-WROOM-1U-N8R8, from the ESP32 family.
How big is the Penguin bot PCB?
The Penguin bot measures 89.5 × 62.6 mm, has 4 copper layers and is 1.6 mm thick.
How many components are on the Penguin bot?
141 components, from 75 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.
Where can I download the Penguin bot design files?
From the jeevan9s/penguin-bot repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.
Can I use the Penguin bot design in my own project?
The repository has no license, so all rights stay with jeevan9s. Use it as a reference, and ask the author before reusing the design.
Can I test firmware for the Penguin bot without the hardware?
Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.
Similar boards
ESP32Open Book Abridged Edition
joeycastillo
85 × 115 mm65 parts2LCC-BY-SA-4.08.1k
ESP32Badge
atopile
56.3 × 39 mm239 parts4LMIT4.0k
ESP32Esp32 minimal
36.2 × 26.8 mm20 parts2LMIT4.0k
ESP32Racer
StuckAtPrototype
36 × 50.2 mm70 parts4LApache-2.03.8k
ESP32Controller
29 × 74 mm58 parts4LApache-2.03.8k
ESP32Bitaxe
skot
56.5 × 99.8 mm86 parts4LCERN-OHL-S-2.01.4k