Open Duck Mini v2

I'm making a miniature version of the BDX Droid by Disney. It is about 42 centimeters tall with its legs extended. The full BOM cost should be under $400 !

Update 22/01/2025 : The mechanical design is pretty much finalized (fixing some mistakes here and there). The current version does not include all the "expression" features we want to include in the final robot (LEDs for the eyes, a camera, a speaker and a microphone). We are now working on making it walk with reinforcement learning !

Note : The documentation is not complete yet. I would advise waiting a bit before ordering, printing and starting assembling the robot, a few things might still change.

This repo

This is kind of a hub where I centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) I'll try to clean things up at some point.

CAD

https://cad.onshape.com/documents/64074dfcfa379b37d8a47762/w/3650ab4221e215a4f65eb7fe/e/0505c262d882183a25049d05

See this document for getting from a onshape design to a simulated robot in MuJoCo

RL stuff

We now use AWD

open_duck_mini_v2-2025-01-19_20.42.31.mp4

Actuator identification

We used Rhoban's BAM

BOM

The BOM is not yet fully finalized, wait a bit before ordering stuff

https://docs.google.com/spreadsheets/d/1gq4iWWHEJVgAA_eemkTEsshXqrYlFxXAPwO515KpCJc/edit?usp=sharing

Build Guide

Print Guide

See print_guide.

Assembly Guide

See assembly guide (incomplete).

Embedded runtime

This repo contains the code to run the policies on the onboard computer (Raspberry pi zero 2w) https://github.com/apirrone/Open_Duck_Mini_Runtime

Thanks a lot to HuggingFace and Pollen Robotics for sponsoring this project !