XGO-Duck

Overview

Open-source 3D-printable biped duck adapted from Pollen Robotics' Microduck: 15 Feetech servos + IMU expansion board driven by an Arduino UNO Q running reinforcement-learning walking policies trained in simulation.

Why it's interesting

XGO-Duck is Luwu Dynamics' adaptation of Pollen Robotics' Microduck, rebuilt around an Arduino UNO Q. The README's hardware table explains the split: the UNO Q's Linux side runs policy inference and a web UI, while its STM32 microcontroller talks to the servos and sensors. Fifteen Feetech 1910 serial servos drive ten leg joints, four neck and head joints and one mouth joint, a QMI8658A 6-axis IMU handles motion sensing, and a Luwu expansion board distributes power and connects the servos. This repo is the hardware starting point, with printable parts, an illustrated assembly guide and a bill of materials, while companion repos hold the onboard runtime (configured through a browser) and the reinforcement-learning tools. It also notes that photos show prototypes, so follow the files for your board revision. Microduck is on HardwareLab.

Source: github.com/LuwuDynamics/xgoduck_hardware#readme

Hardware

• Arduino UNO Q
• custom expansion board w/ IMU
• 15x Feetech 1910 serial servos
• 3D-printed body