Open Duck Mini v2
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We are 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 !
This repo is kind of a hub where we centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) We'll try to clean things up at some point.
State of sim2real
https://github.com/user-attachments/assets/58721d0f-2f95-4088-8900-a5d02f41bba7
https://github.com/user-attachments/assets/4129974a-9d97-4651-9474-c078043bb182
https://github.com/user-attachments/assets/a0afcd38-15d8-40c6-8171-a619107406b8
Updates
Update 02/04/2024: You can try two policies we trained : this one and this one Run with the following arguments : python v2_rl_walk_mujoco.py --onnx_model_path ~/BEST_WALK_ONNX_2.onnx
Update 15/03/2025: join our discord server to get help or show us your duck :) https://discord.gg/UtJZsgfQGe
Update 07/02/2025: Big progress on sim2real, see videos above :)
Update 24/02/2025: Working hard on sim2real !
Update 07/02/2025 : We are writing documentation on the go, but the design and BOM should not change drastically. Still missing the "expression" features, but they can be added after building the robot!
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 !
Community
Join our discord community ! https://discord.gg/UtJZsgfQGe
CAD
See this document for getting from a onshape design to a simulated robot in MuJoCo (Warning, outdated. Has not been updated in a while)
RL stuff
We are switching to Mujoco Playground, see this repo
https://github.com/user-attachments/assets/037a1790-7ac1-4140-b154-2c901d20d5f5
Reference motion generation for imitation learning
https://github.com/user-attachments/assets/4cb52e17-99a5-47a8-b841-4141596b7afb
See this repo
Actuator identification
We used Rhoban's BAM
BOM
https://docs.google.com/spreadsheets/d/1gq4iWWHEJVgAA_eemkTEsshXqrYlFxXAPwO515KpCJc/edit?usp=sharing
Chinese: https://zihao-ai.feishu.cn/wiki/AfAtw69vRigXaRk5UkbcrAiLnJw?from=from_copylink
Build Guide
Chinese: https://zihao-ai.feishu.cn/wiki/space/7488517034406625281
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
Training your own policies
If you want to train your own policies, and contribute to making the ducks walk nicely, see this document
Thanks a lot to HuggingFace and Pollen Robotics for sponsoring this project !