오픈소스 미니 휴머노이드 및 바이페드
Duck Mini v2를 엽니다
디즈니의 BDX 드로이드에서 영감을 받은 오픈 소스 미니 바이페드: 약 42cm, 16개의 관절, 14개의 Feetech 버스 서보 및 시뮬레이션처럼 작동하는 RL 걷기 - 부품 가격은 약 €400입니다.
- 유형
- 미니 바이페드
- 관절
- 16
- 높이
- ≒ 42cm
- 서보
- Feetech STS3215 × 14
- BOM 비용
- €398.10
- 구조
- PLA + TPU 인쇄
- 개방형 하드웨어 및 개방형 코드
- 공급업체 링크가 포함된 전체 BOM
- 원본 CAD, 코드 및 논문에 대한 직접 링크
01 — 프로젝트 상세
개요, BOM 및 자료
Overview
Open Duck Mini is built by Antoine Pirrone and the community, sponsored by Hugging Face and Pollen Robotics. Walking policies are trained in MuJoCo Playground and run on a Raspberry Pi Zero 2W.
Five joints per leg, four in the neck and head, and two antennas. The community has added shell, e-stop panel and head mods, and there is a Chinese build guide.
Key specifications
| Servos | 14 × Feetech STS3215 7.4 V bus servos + 9 g servos (antennas) |
|---|---|
| Controller | Raspberry Pi Zero 2W + Waveshare bus-servo driver |
| Sensors | BNO055 IMU, foot contact switches; optional camera and mic |
| Power | 2 × 18650 (2S) + BMS + 5 V UBEC |
Bill of materials
Total €398.10 (estimated minimum €331.10); with the optional expression package (eye LEDs, projector, speaker, mic, camera) €432.34.
Download the BOM (.xlsx) · Official BOM ↗
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| Power | |||||
| 18650 cell | 2 | €5.00 | €10.00 | nkon.nl ↗ | |
| 18650 cell holder | 1 | €4.99 | €4.99 | amazon.fr ↗ | |
| 2S BMS | 1 | €8.40 | €8.40 | shorturl.at ↗ | |
| 5V regulator | 1 | €4.00 | €4.00 | shorturl.at ↗ | |
| Small power switch | 1 | €4.49 | €4.49 | amazon.fr ↗ | |
| usb-c charger | 1 | €9.99 | €9.99 | amazon.fr ↗ | |
| 2.1mm barrel jack | 2 | €1.00 | €2.00 | amazon.fr ↗ | |
| XT15? XT30 ? | 1 | €8.00 | €8.00 | amazon.fr ↗ | |
| Servos, control and sensors | |||||
| IMU (BNO055) | 1 | €40.00 | €40.00 | amazon.fr ↗ | |
| Raspberry pi zero 2w | 1 | €26.08 | €26.08 | t.ly ↗ | |
| SD card | 1 | €10.00 | €10.00 | amazon.fr ↗ | |
| Servo control board | 1 | €5.00 | €5.00 | waveshare.com ↗ | |
| Feetech 7.4v STS 3215 | 14 | €14.00 | €196.00 | alibaba.com ↗ | |
| Feet contact switches (SS-10) | 4 | €1.00 | €4.00 | fr.aliexpress.com ↗ | |
| 9g servos | 2 | €3.33 | €6.66 | amazon.fr ↗ | |
| MISC | |||||
| 3D printing M3 inserts | 1 | €5.99 | €5.99 | amazon.fr ↗ | |
| Standard PLA | 1 | €20.00 | €20.00 | ||
| TPU | 1 | €0.00 | €0.00 | ||
| Cable sheath | 1 | €9.00 | €9.00 | amazon.fr ↗ | |
| 15cm micro usb to usb-c cable | 1 | €7.00 | €7.00 | amazon.fr ↗ | |
| 50cm micro usb to usb c cable | 1 | €6.00 | €6.00 | amazon.fr ↗ | |
| Bearing | 3 | €3.50 | €10.50 | amazon.fr ↗ | |
| Total | €398.10 | ||||
Optional items, tools and reference items (not counted)
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| Expression package | |||||
| Projector reflector | 1 | €2.00 | €2.00 | fr.aliexpress.com ↗ | |
| Speaker | 1 | €6.00 | €6.00 | amazon.fr ↗ | |
| Leds (for eyes and projector) | 3 | €0.20 | €0.60 | amazon.fr ↗ | |
| Microphone | 1 | €15.00 | €15.00 | amazon.fr ↗ | |
| Eye diffusers | 4 | €0.16 | €0.64 | amazon.fr ↗ | |
| Amplifier | 1 | €5.00 | €5.00 | amazon.fr ↗ | |
| Raspberry pi camera | 1 | €5.00 | €5.00 | fr.aliexpress.com ↗ | |
| Total | €398.10 | ||||
3D printing & fabrication
- All parts in standard PLA at 15% infill; foot_bottom_tpu in TPU at 40%.
- About 500 g of PLA; M3 heat-set inserts required.
- The 36 official STLs are in the repository’s print folder; community mods (shell, head) are alongside.
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- GitHub (main) ↗github.com
- CAD (Onshape) ↗cad.onshape.com
- Official BOM (Google Sheets) ↗docs.google.com
- Runtime (Pi Zero 2W) ↗github.com
- RL training (Playground) ↗github.com
- Reference motion generator ↗github.com
- Build guide on Tnkr ↗tnkr.ai
- Chinese build guide (Feishu) ↗zihao-ai.feishu.cn
License
The main Open_Duck_Mini repository is Apache-2.0. Open_Duck_Mini_Runtime, Open_Duck_Playground and Open_Duck_reference_motion_generator have no LICENSE file (checked 2026-10-21), so all rights are reserved by default — reference only.
Image credits
- Image 1: Antoine Pirrone (apirrone) and community contributors · repo Apache-2.0, image not separately licensed — source ↗
- Image 2: Antoine Pirrone (apirrone) and community contributors · repo Apache-2.0, image not separately licensed — source ↗
- Image 3: Antoine Pirrone (apirrone) and community contributors · repo Apache-2.0, image not separately licensed — source ↗
- Image 4: Antoine Pirrone (apirrone) and community contributors · repo Apache-2.0, image not separately licensed — source ↗
- Image 5: Antoine Pirrone (apirrone) and community contributors · repo Apache-2.0, image not separately licensed — source ↗
출처: 이미지 및 데이터: Open Duck Mini 프로젝트(Antoine Pirrone 및 커뮤니티, GitHub apirrone/Open_Duck_Mini). 주요 저장소 Apache-2.0. 디즈니의 BDX에서 영감을 받은 디자인; 이 사이트는 디즈니나 원래 프로젝트와 관련이 없습니다.
부품 구하기
부품을 구할 수 있는 곳
BOM의 모든 라인은 원래 팀이 사용한 공급업체에 연결됩니다. 부품 조달이나 구조물의 3D 프린팅에 도움이 필요하십니까? 어떤 로봇을 만들고 있는지 알려주세요.
02 — 관련 로봇
