开源 小型人形与双足
Open Duck Mini v2 迷你双足鸭
受迪士尼 BDX 机器人启发的开源迷你双足机器人：约 42 cm，16 个关节，14 个飞特总线舵机，强化学习行走已实现 sim2real，整套 BOM 约 400 欧元。
- 类型
- 小型双足
- 关节
- 16
- 高度
- 约 42 cm
- 舵机
- 飞特 STS3215 × 14
- 物料成本
- 约 398 欧元
- 结构
- PLA + TPU 打印件
- 开源硬件与开源代码
- 完整物料清单，附购买链接
- 直达原项目的图纸、代码和论文
01 — 项目详情
概况、物料清单与资料
项目概况
Open Duck Mini 由 Antoine Pirrone 和社区开发，Hugging Face 与 Pollen Robotics 赞助。它用 MuJoCo Playground 训练行走策略，在 Raspberry Pi Zero 2W 上实时运行。
每条腿 5 个关节，加上颈部和头部 4 个、天线 2 个。社区还做了外壳、急停面板和头部的改装件，有中文搭建指南。
关键参数
| 舵机 | 14 × Feetech STS3215 7.4 V 总线舵机 + 9 g 舵机（天线） |
|---|---|
| 主控 | Raspberry Pi Zero 2W + Waveshare 总线舵机驱动板 |
| 传感器 | BNO055 IMU、足底接触开关；可选摄像头、麦克风 |
| 电源 | 2 × 18650（2S）+ BMS + 5 V UBEC |
物料清单 BOM
合计 EUR 398.10（估计最低 EUR 331.10）；加上可选“表情包”（眼灯、投影、喇叭、麦克风、相机）共 EUR 432.34。
下载整理版 BOM（.xlsx） · 官方 BOM 原表 ↗
| 零件 | 型号 / 规格 | 数量 | 单价 | 小计 | 购买链接 |
|---|---|---|---|---|---|
| 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 ↗ | |
| 合计 | €398.10 | ||||
可选件、工具与参考条目（不计入合计）
| 零件 | 型号 / 规格 | 数量 | 单价 | 小计 | 购买链接 |
|---|---|---|---|---|---|
| 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 ↗ | |
| 合计 | €398.10 | ||||
3D 打印与制造
- 全部零件用标准 PLA、15% 填充；脚底 foot_bottom_tpu 用 TPU、40% 填充。
- PLA 约 500 g；需要 M3 热熔螺母。
- 官方 36 种 STL 在 GitHub 的 print 目录；社区改装件（外壳、头部）见同仓库 mods。
图纸、程序与论文
大文件（CAD、STL、STEP、代码仓库）请直接从原项目获取：
- GitHub 主仓库 ↗github.com
- CAD（Onshape） ↗cad.onshape.com
- 官方 BOM（Google 表格） ↗docs.google.com
- 运行时代码（Pi Zero 2W） ↗github.com
- 强化学习训练 Playground ↗github.com
- 参考动作生成 ↗github.com
- Tnkr 搭建指南 ↗tnkr.ai
- 中文搭建指南（飞书） ↗zihao-ai.feishu.cn
开源协议
主仓库 Open_Duck_Mini 为 Apache-2.0。Open_Duck_Mini_Runtime、Open_Duck_Playground、Open_Duck_reference_motion_generator 三个仓库目前没有 LICENSE 文件（2026-10-21 核对），默认保留所有权利，只能参考。
图片来源与授权
- 图 1：Antoine Pirrone（apirrone）及社区贡献者 · 仓库 Apache-2.0，图片未单独声明 — 来源 ↗
- 图 2：Antoine Pirrone（apirrone）及社区贡献者 · 仓库 Apache-2.0，图片未单独声明 — 来源 ↗
- 图 3：Antoine Pirrone（apirrone）及社区贡献者 · 仓库 Apache-2.0，图片未单独声明 — 来源 ↗
- 图 4：Antoine Pirrone（apirrone）及社区贡献者 · 仓库 Apache-2.0，图片未单独声明 — 来源 ↗
- 图 5：Antoine Pirrone（apirrone）及社区贡献者 · 仓库 Apache-2.0，图片未单独声明 — 来源 ↗
来源：图片与资料来源：Open Duck Mini 项目（Antoine Pirrone 与社区，GitHub apirrone/Open_Duck_Mini）。主仓库 Apache-2.0。外观设计灵感来自迪士尼 BDX，本站与迪士尼及原项目均无隶属关系。
显示原文 (English)
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 ↗
获取零件
去哪里买零件
物料清单里的每一项都附有原团队使用的购买链接。需要帮忙采购零件或代打 3D 打印件？告诉我们你在做哪一台机器人。
02 — 相关机器人
