Sumber terbuka Mini humanoid & biped
Buka Mini Itik v2
Biped mini sumber terbuka yang diilhamkan oleh droid BDX Disney: kira-kira 42 cm, 16 sambungan, 14 servos bas Feetech dan RL berjalan yang berfungsi secara sim-to-real — sekitar €400 dalam bahagian.
- Jenis
- Mini biped
- Sendi
- 16
- Tinggi
- ≈ 42 cm
- Servo
- Feetech STS3215 × 14
- Kos BOM
- ≈ €398.10
- Struktur
- cetakan PLA + TPU
- Buka perkakasan dan buka kod
- Bil bahan penuh dengan pautan pembekal
- Pautan terus ke CAD, kod dan kertas asal
01 — Detail proyek
Ikhtisar, BOM, dan sumber daya
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 ↗
Sumber: Imej dan data: Projek Open Duck Mini (Antoine Pirrone dan komuniti, GitHub apirrone/Open_Duck_Mini). Repositori utama Apache-2.0. Reka bentuk yang diilhamkan oleh BDX Disney; laman web ini tidak bergabung dengan Disney atau projek asal.
Dapatkan alat ganti
Di mana untuk mendapatkan bahagian
Setiap baris dalam BOM memautkan kepada pembekal yang digunakan oleh pasukan asal. Perlukan bantuan mendapatkan bahagian atau mencetak struktur 3D? Beritahu kami robot yang anda sedang bina.
02 — Robot terkait
