Petoi ESP32 Development Board | High-performance for Quadruped Robots

BiBoard is an ESP32-based robot 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 (Multi-joint) 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 (only on the V0 board)

4 Grove sockets for external modules.

USB Type-C port for uploading firmware and serial communication.
64Kbit I2C EEPROM (optional on the V1 board)
DAC and audio application.

Built-in connectivity support
Serial
Bluetooth

WiFi

Compatible with Petoi open source quadruped robotics kits, such as robot dog Bittle X  and robot cat Nybble Q

Raspberry Pi support

The V1 board provides a 5-pin socket for mounting Raspberry Pi directly.
For the V0 board, you must use wires or adapters to mount the Raspberry Pi on the BiBoard. 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 and has 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

Features
BiBoard V0
BiBoard V1

Structure
Stacked
Single board

Size
65mm x 56mm x 18 mm
65mm x 56mm x 15mm

CPU
16MB ESP32
4MB ESP32 mini

PWM servo sockets
12x PWM. Pin 2 cannot read feedback
12x PWM. pin 27 shared with LED

Working voltage
USB or 7.4V battery

IMU (Inertia Measurement Unit)
MPU6050
Default: ICM42670 Optional: MP