fanhao375/microduck-replica

Microduck 复刻 · 从官方 MJCF 与 Rust 源码反推出的装配图、CAD 装配体与完整电控方案 | Mechanical + electronics reconstruction of Pollen Robotics' Microduck

What it solves

This project provides a comprehensive reverse-engineering of the Microduck, a small bipedal robot duck. While the original manufacturer provides open-source software but keeps the hardware (BOM, CAD files, PCB schematics) closed, this repository reconstructs the assembly drawings, exploded views, and CAD-ready assemblies by analyzing the official MJCF simulation models and STL meshes.

How it works

The author analyzes the official MJCF simulation model, which contains the kinematic tree, precise relative positions (down to 0.1mm), axis of rotation, and mass/inertia tensors. By processing these simulation files, the project generates:

  • CAD Assemblies: STL files with world transforms applied, allowing them to be imported directly into CAD software (like Fusion 360 or SolidWorks) in their correct positions.
  • Assembly Drawings: Visual guides and exploded views showing how the 15 parts connect.
  • Fastener Analysis: A process of scanning STL hole features to deduce the required screw sizes (primarily M2 screws).
  • Hardware Reverse Engineering: Analysis of the source code to identify the off-the-shelf components used, such as the Radxa Zero 3W controller and specific sensors.

Who it’s for

  • Robotics hobbyists and makers who want to build their own version of the Microduck.
  • Engineers interested in hardware reverse engineering and kinematic reconstruction from simulation data.
  • Researchers studying bipedal locomotion and reinforcement learning who need a physical platform to test their policies.

Highlights

  • Complete Kinematic Reconstruction: Restores the assembly relationship of 14 controlled joints and 1 passive joint.
  • Ready-to-use CAD: Provides STLs that are pre-positioned for immediate import into CAD software.
  • Detailed Hardware BOM: Identifies the specific servos (Dynamixel XL330), bearings, and controller (Radxa Zero 3W) used in the original design.
  • Fastener Mapping: Includes a detailed list of holes and screw requirements derived from geometric analysis.

Related

  • Project
    carla-simulator/scenario_runner

    A traffic scenario definition and execution engine for the CARLA simulator used to test and prepare autonomous driving agents.

  • Project
    OpenWAM-Official/OpenWAM

    An open research stack for developing World-Action Models (WAMs) that provides a modular infrastructure for pretraining and fine-tuning robot policies that combine world knowledge and action learning.

  • Project
    CopterExpress/clover

    An open-source ROS-based framework and hardware kit that provides tools and preconfigured images to easily create and program autonomous drones.

  • Project
    HorizonRobotics/HoloMotion

    A humanoid whole-body control framework that uses an MoE Transformer to enable real-time motion imitation and teleoperation across diverse hardware configurations.