LuwuDynamics/xgoduck_hardware

选用指南

AI 根据 README 整理 · 2026/10/23 16:11:46

适用场景

适合想自己动手3D打印并组装双足机器人的爱好者或教育项目。

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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 | | --- | --- | --- |

目标用户

面向机器人爱好者、创客及教育用户，需要一定的动手能力和硬件知识。

查看 README 依据

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 | | --- | --- | --- |

使用方式

通过3D打印结构件，购买电子部件并按照组装指南和BOM清单进行组装。

查看 README 依据

[Assembly guide](Assembly_Guide.pdf) · [Bill of materials](BOM.md) · [Runtime](https://github.com/LuwuDynamics/xgoduck_runtime_arduino) · [Training](https://github.com/LuwuDynamics/xgoduck_rl) <img src="media/xgo-duck-somersault.webp" alt="A duck-shaped biped robot performing a somersault in a looping animation" width="540"> *A clean somersault · CyberBionic Maker* </div> ## Meet XGO-Duck

Open the [bill of materials](BOM.md) for the robot purchasing list, supplier links and battery requirements, and [PCBA/](PCBA/) for the expansion-board files. The robot BOM and PCB manufacturing BOM serve different purposes: a finished expansion board already includes its board-level components. | Part | Quantity | | --- | ---: | | Arduino UNO Q (2 GB / 4 GB) | 1 | | [Robot expansion board — Luwu Dynamics Store](https://shop.xgorobot.com/products/robot-driver-board?variant=67594424713467) | 1 | | Feetech 1910 servo | 15 | | AMP 3-pin servo cable | 15 |

部署要求

需要Arduino UNO Q、15个Feetech 1910舵机、扩展板、电池等硬件，以及3D打印机和相应工具。

查看 README 依据

Open the [bill of materials](BOM.md) for the robot purchasing list, supplier links and battery requirements, and [PCBA/](PCBA/) for the expansion-board files. The robot BOM and PCB manufacturing BOM serve different purposes: a finished expansion board already includes its board-level components. | Part | Quantity | | --- | ---: | | Arduino UNO Q (2 GB / 4 GB) | 1 | | [Robot expansion board — Luwu Dynamics Store](https://shop.xgorobot.com/products/robot-driver-board?variant=67594424713467) | 1 | | Feetech 1910 servo | 15 | | AMP 3-pin servo cable | 15 |

| 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 |

已知限制

作者提醒在测试和调整舵机时尽量避免堵转。

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> [!WARNING] > **When testing and tuning servos, avoid stalling them as much as possible.** <div align="center"> [](https://discord.com/invite/pfWrJeJRh6) # XGO-Duck **English** · [简体中文](README_CN.md) **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.