Open Duck Mini v2
A 3D-printed bipedal robot about 42 cm tall, inspired by Disney's BDX droids, that walks with reinforcement-learning policies trained in MuJoCo.
- Other
- Open source
- Works with AI
- 3D model (URDF)
- 3D printable
Added from github.com/apirrone/Open_Duck_Mini (opens in a new tab), created by @apirrone (opens in a new tab). Pinned to commit b23317a (opens in a new tab).
- Hardware license
- Apache-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Allowed
This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.
Which files (1 script)
Photo and 3D model
3D preview converted from github.com/apirrone/Open_Duck_Mini at b23317a, under Apache-2.0. View the original files from GitHub (18.8 MB) (opens in a new tab)
- Height
- 42 cm
What it can do
Written by Robotheca from the project's documents.
- Walks using reinforcement learning policies
- Moves legs with hip yaw, hip roll, hip pitch and knee pitch servos
- Plays audio through onboard speaker
- Displays eye animations via LEDs
- Detects foot contact with foot switches
- Measures orientation with IMU
- Moves head with yaw, pitch and roll servos
Works with AI
Found by Robotheca in the project's files at commit b23317a, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Has LeRobot code
In the project files: experiments/LeRobotShips trained model files: BEST_WALK_ONNX.onnx and 1 more
In the project files: BEST_WALK_ONNX.onnxUses a machine-learning library: ONNX
In the project files: experiments/mujoco/onnx_AMP_for_hardware_mujoco.py“Walks using reinforcement learning policies”
Robotheca's notes: What it can do“Copy reinforcement learning policy files (ONNX) to the robot”
Robotheca's notes: How to run it
Bill of materials
The parts list for this robot is kept outside its repository.
Parts spreadsheet (Google Sheets) (opens in a new tab)Build guide
The creator's steps, each with its instructions.
- 1Get the parts (opens in a new tab)docs.google.com
- 2Print the partsprint_guide.md
- 3Assemble the robotassembly_guide.md
- 4Train and run a walking policysim2real.md
The guide appears here as you scroll.
Guide by @apirrone (README.md), under Apache-2.0.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Raspberry Pi Zero 2 W
- Servo motors (12 total)
- MAX98357A I2S audio amplifier
- BNO055 IMU
- Foot switches (2)
- LED strips for eyes and projector
- LiPo battery pack (2S)
- Servo driver board (unspecified model)
- Antennas with PWM control
Connections
- Raspberry Pi I2C to BNO055 (SDA on GPIO 2, SCL on GPIO 3)
- Raspberry Pi GPIO 23 and 24 to left and right eye LED anodes
- Raspberry Pi GPIO 25 to projector LED anode
- Raspberry Pi GPIO 12 and 13 to left and right antenna PWM
- Raspberry Pi GPIO 22 and 27 to left and right foot switches
- Raspberry Pi GPIO 19, 18 and 21 to MAX98357A I2S audio (LRC, BCLK, DIN)
- Servo motors connected to servo driver board via servo cables
- Battery pack connected to servo driver board and Raspberry Pi via power lines
