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Build a robot duck. Explore how it moves. Make it your own.
A 3D-printable biped robot built around Arduino UNO Q and 15 serial servos.
Assembly guide · Bill of materials · Runtime · Training
A clean somersault · CyberBionic Maker
XGO-Duck is a duck-shaped biped robot adapted by Luwu Dynamics from Pollen Robotics' Microduck. It combines a printable structure, fifteen Feetech 1910 servos, an Arduino UNO Q, and a custom expansion board with an IMU and servo interfaces.
This repository is the hardware starting point: print the parts, prepare the electronics, and assemble the robot. Companion repositories provide the onboard runtime and reinforcement-learning tools, connecting a physical build with motion experiments.
| Build | Run | Experiment |
|---|---|---|
| Print the body, legs, neck, head and soft parts. Assemble with the illustrated guide. | Configure and calibrate the robot through the companion runtime's browser interface. | Study the simulation, train policies and explore your own motions. |
| Hardware files | Onboard runtime | RL tools |
XGO-Duck prototype — printed parts, articulated legs, and a movable head and beak.
 A movable head and beak Four neck/head joints and a separate mouth servo. |
 Electronics you can inspect Rear-mounted controller stack and accessible wiring. |
The photos show project prototypes. Follow the assembly guide and matching board files for your build revision.
| Subsystem | What it uses | Role |
|---|---|---|
| Controller | Arduino UNO Q | Linux host for policy inference and web UI; STM32 MCU for servo and sensor communication |
| Actuation | 15 Feetech 1910 serial servos | 10 leg joints, 4 neck/head joints, and 1 mouth joint |
| Expansion board | Luwu UNO Q expansion board | Power distribution, servo connections and IMU integration |
| Motion sensing | QMI8658A 6-axis IMU | Acceleration and angular-velocity feedback |
| Structure | STL parts | Body, leg, neck and head components |
| Soft parts | TPU-designated STL files | Foot soles and mouth parts |