Open-source Bipedal Robot Duck DIY Kit Apache-2.0 Open Source

MicroDuck CN Edition

An open-source bipedal robot duck for individual developers · DIY assembly · reinforcement-learning native

A cute 25cm robot duck with 15 full-body DOF, driven by an RK3566 50Hz policy loop. Structural drawings, BOM, firmware, and the reinforcement-learning training stack are fully open-source — assemble it yourself and go from simulation to real robot, training your own embodied intelligence.

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MicroDuck CN Edition open-source robot duck

Open-source Bipedal Duck

15 DOF (legs 5×2 + head/neck 4 + beak 1), 50Hz on-board policy loop, 7 built-in behaviors including walking, kicking and beak grasping, with self-recovery after falls.

DIY Kit

Structural parts + electronics + servos + controller + battery, all included. 3D-print drawings and BOM fully open-source, with a bilingual assembly guide — build one yourself.

RL Training Stack

MuJoCo simulation + PPO training, export ONNX to deploy on the real robot. The sim-to-real toolchain is fully open, and behavior policies are retrainable.

Developer Friendly

Rust daemon architecture, Python / JavaScript scripting for custom behaviors, low-cost domestic servo alternatives — accessible even for individual developers.

SPECS

Specifications

Dimensions25cm height · 14cm width · ~800g (≤1kg)
DOF15 DOF (legs 5×2 + head/neck 4 + beak 1)
Servos15 × domestic drop-in servos (FEETECH-compatible)
ControllerRockchip RK3566 (quad-core Cortex-A55 · 0.8 TOPS NPU)
Memory / Storage1GB RAM + 32GB eMMC
SensingWide-angle camera · 8×8 ToF depth · dual IMU · microphone · speaker · NFC
ConnectivityWi-Fi · Bluetooth · NFC
Battery18650 removable battery pack, ~1 hour runtime
Control50Hz on-board policy loop · RL training via MuJoCo / PPO
Structure3D-printed (FDM / SLA) + sheet metal, fully open-source drawings
Built-in BehaviorsWalk · sit · crouch · kick · beak grasp · roller skate · self-recovery
DIY KIT

DIY · From Parts to a Walking Robot Duck

Not a toy that just loops canned motions, but an open-source bipedal robot platform you can keep experimenting with and remixing.

Complete Kit

3D-printed structural parts, electronics, 15 servos, RK3566 controller, battery pack — all included and checked against the BOM, ready to assemble out of the box.

Bilingual Guide

From printing to assembly, from flashing to first run — illustrated step-by-step tutorials. The tolerance & interference checklist is fully public, ensuring a high reproduction success rate.

Train New Skills

Train new gaits and actions in MuJoCo with PPO, export ONNX to the real robot — teach this duck your own ideas.

COLORS

Two Colors · Yellow / Purple

MicroDuck Yellow
Yellow
MicroDuck Purple
Purple
SCENARIOS

Use Cases

Individual Developers

Low-cost entry into reinforcement learning and embodied intelligence — train your own motion policies.

Maker Education

Kit assembly + open-source tutorials — take the robot apart and learn by building.

Research Validation

A low-cost platform for sim-to-real transfer, gait control, and domain randomization research.

Competitions & Events

A vehicle for open-source ecosystem remixing, skill-pack development, and university competitions.

OPEN SOURCE

Open-source Ecosystem

Runtime — microduck

A Rust 7-daemon architecture with a 50Hz motor control loop (robotd) plus safety guards; processes communicate via JSON-RPC 2.0.

Training — microduck_rl

MuJoCo simulation + PPO reinforcement learning with domain randomization; export ONNX to deploy on the real robot.

Open Licenses

Hardware drawings / PCB / BOM under CERN-OHL-S, software stack and training environment under Apache-2.0, tutorials under CC BY-SA.

Bring a MicroDuck Home

Get the DIY kit or a fully assembled unit, join the open-source community, and have fun with fellow developers.

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