kissqy/Microduck-kissqy

What it is

Microduck-kissqy is a from-scratch, open-source replica of a small walking robot duck. The original robot is Pollen Robotics Microduck; this project rebuilds it using a different motor (the Feite HD1910 servo) and packages everything a hobbyist needs: a ready-made system image, a Chinese-language robot control app, custom circuit boards (HAT & IMU), and the full set of 3D-printable body parts.

The duck can already walk, sit, pick things up, kick a ball, and do a forward roll. Adding wheels unlocks more moves: gliding, squatting, spinning in place, and getting up from lying down. You control it with a physical gamepad.

Why it solves a real problem

Normally, a robot like this needs you to train your own motion models (the "brain" that tells the motors how to move). This project ships pre-trained action models, so you don't have to train anything yourself. The README says the included system image R1 was tested on a real device: you flash it onto a Radxa ZERO 3W board, connect Wi-Fi, and the Chinese control console opens — no firmware compilation needed.

What you get

1. System image R1 — pre-installed with the official system, robot services, and motion models.
2. Chinese robot control console — a web interface to connect and calibrate the duck, see real-time 3D pose, joint/IMU feedback, and the camera feed. It supports both gamepad and web-page control. (The online demo uses simulated data — it doesn't connect to a real duck.)
3. Custom HAT & IMU boards — designed by the author, produced via JLCPCB SMT assembly. The finished IMU ships pre-flashed with FT6 firmware, though the duck still needs per-unit calibration after installation.
4. Full 3D-print files — dubbed the "Frankenduck" edition, with structural models, reference print layouts, and support for both normal feet and wheel versions.
5. A step-by-step build road map — four steps: check the budget → buy the parts → assemble & wire → get it walking. Each step gives a complete answer first, with expandable details.

Advanced play: train your own moves

Once you're comfortable with the pre-made models, a separate training console (R1.5.27) lets you explore custom actions: choose a task and training recipe, watch the training reward progress, evaluate in simulation, then export the model for real-machine testing.

A notable achievement

The author highlights a self-trained one-leg balance — the duck standing on a single leg — shown in a real-machine video, plus several other live-action clips.

Limitations & licensing

• Non-commercial, personal use only for the author's original console, tools, docs, and the HD1910 self-trained models. Commercial/organization use requires written authorization.
• The adaptation code that the author released under Apache follows its own license. Third-party components carry their own licenses (documents are linked in the repo).
• The original hardware designs (HAT, IMU, etc.) are also restricted to personal non-commercial replication.

Bottom line

If you want a physically real, walking robot duck and are willing to buy parts, print plastic, solder sometimes, and follow a guide — this project gives you the complete recipe, the software, the pre-trained brain, and a Chinese-language control panel, so the hard part (training the robot to move) is already done for you.