Microduck Replica
A 15-degree-of-freedom open-source humanoid robot replica with editable SolidWorks CAD and assembly instructions.
- Humanoid
- No license: all rights reserved by the creator
- 3D printable
Suggested by Robotheca, created by @fanhao375 (opens in a new tab), from github.com/fanhao375/microduck-replica-cad (opens in a new tab). Pinned to commit c9a533b (opens in a new tab).
- Also on GitHub: fanhao375/microduck-replica (opens in a new tab) (variant: the main repository, with the code, documentation and build log)
- Hardware license
- No license
- Software license
- No license
- Commercial use
- Unknown
No license is stated for part of this robot.
The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.
Photo
What it can do
Written by Robotheca from the project's documents.
- Walks on two legs with hip yaw, hip roll, knee and ankle joints
- Moves head with yaw and roll axes
- Uses a camera for vision
- Uses a time-of-flight sensor for distance measurement
- Plays sound through an onboard speaker
- Supports remote control via a companion computer
Bill of materials
33 parts33 of 33 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | 头部上壳 | 1 | – | – |
| 2 | 头部下壳 | 2 | – | – |
| 3 | 面部零件 | 3 | – | – |
| 4 | 下巴 | 4 | – | – |
| 5 | 软下巴 | 5 | – | – |
| 6 | 软嘴顶部 | 6 | – | – |
| 7 | 眼睛 | 7 | – | – |
| 8 | 颈部 | 8 | – | – |
| 9 | 颈部俯仰 | 9 | – | – |
| 10 | 躯干底座 | 10 | – | – |
| 11 | 左壳 | 11 | – | – |
| 12 | 右壳 | 12 | – | – |
| 13 | 髋部左 | 13 | – | – |
| 14 | 偏航转横滚 | 14 | – | – |
| 15 | 偏航横滚运动 | 15 | – | – |
| 16 | 腿部 | 16 | – | – |
| 17 | 左上腿 | 17 | – | – |
| 18 | 右上腿 | 18 | – | – |
| 19 | 上腿加固板 | 19 | – | – |
| 20 | 左脚 | 20 | – | – |
| 21 | 右脚 | 21 | – | – |
| 22 | 左脚底 | 22 | – | – |
| 23 | 右脚底 | 23 | – | – |
| 24 | 脚踝左 | 24 | – | – |
| 25 | 脚踝右 | 25 | – | – |
| 26 | 脚踝左 V1 | 26 | – | – |
| 27 | 脚踝右 V1 | 27 | – | – |
| 28 | 合体轮胎 | 28 | – | – |
| 29 | 滚轮叶片 | 29 | – | – |
| 30 | 电机支架 | 30 | – | – |
| 31 | 电源支架 | 31 | – | – |
| 32 | 香蕉形 PCB 锁扣 | 32 | – | – |
| 33 | 轴承滚轮 | 33 | – | – |
33 of 33 parts have no price in the source, so there is no parts total. Read from README.md at the pinned commit.
Build guide
The creator's steps, each with its instructions.
- 1Prepare 3D printed parts and materials
- 2Assemble the torso base
- 3Install left hip yaw and roll joints
- 4Attach left thigh and calf
- 5Mount left ankle and foot
- 6Install neck base and pitch joint
- 7Mount head yaw and roll assembly
- 8Assemble head components
- 9Install right hip yaw and roll joints
- 10Attach right thigh and calf
- 11Mount right ankle and foot
- 12Install control electronics and wiring
- 13Calibrate servos and test movements
- 14Final assembly and functional testing
The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.
Read the creator's guideAsk the creator on GitHub (opens in a new tab)Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Radxa Zero 3W single-board computer
- Raspberry Pi Robot HAT expansion board
- Imu_to_dxl interface board
- 15 Feetech HD-1910-C001 servos for joints
- Feetech URT2 servo debug board
- Sony IMX219 camera module
- ST VL53L8CX time-of-flight sensor
- NP-F550 2S Li-ion battery
- Buzzer speaker on HAT
Connections
- URT2 board wired to Radxa Zero 3W via USB
- Camera connected to Radxa Zero 3W CSI port
- ToF sensor connected via I2C to Radxa Zero 3W
- Battery connected to HAT power input
- HAT provides regulated power to Radxa Zero 3W and servos