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kissqy/Microduck-kissqy

A Chinese-language replication kit for the Microduck bipedal robot duck on Feetech HD1910 servos, with build guides, 3D prints, custom HAT/IMU boards and RL training tools.

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What is it?

This project is a personal, community-built replication of the Microduck bipedal robot duck, originally published by Pollen Robotics, adapted to Feetech HD1910 servos. It covers the full path from buying parts to running the robot: a build guide with a bill of materials, a complete set of 3D-printable parts, custom HAT and IMU circuit boards, a prebuilt Radxa ZERO 3W system image, and firmware for the servo controller.

The repository includes two Chinese-language control consoles. The robot console handles live 3D pose, camera and joint/IMU data, servo calibration and gamepad control. A separate training console covers reinforcement-learning training jobs, simulation, model evaluation and ONNX export. Ten motion models are provided for the robot, and the Rust-based source is published alongside the compiled firmware.

The author notes that software preinstallation does not replace mechanical calibration: joint zero positions, directions, limits and the IMU should be checked after assembly or servo replacement. Use of the original work is limited to personal, non-commercial purposes unless separately licensed.

Key features

  • 01Radxa ZERO 3W system image with the robot service preinstalled
  • 02Chinese-language robot console with 3D pose, camera and joint/IMU views
  • 03Gamepad control and servo calibration in the robot console
  • 04Separate training console for RL jobs, simulation and ONNX export
  • 05Full set of 3D-printable parts with a bill of materials
  • 06Custom HAT and IMU boards with firmware for the STM32 IMU

Use cases

  • Building a Microduck-style bipedal robot from parts
  • Running and calibrating a feetech HD1910-based duck with the Chinese console
  • Training walking or standing-up motions with reinforcement learning
  • Learning how a small humanoid-style robot is wired, printed and controlled

Quick start

  1. 1

    Flash the system image with Armbian Imager (select the .img.xz directly, no unzip needed)

  2. 2

    Connect to the Microduck-kissqy hotspot (password 12345678) and set up home Wi-Fi

  3. 3

    Unzip the robot console ZIP and run start.cmd to connect to the duck; calibrate and home before enabling motion

    start.cmd

Things to know

  • Requires building or owning a physical Microduck robot with Feetech HD1910 servos and a Radxa ZERO 3W.
  • Original parts are licensed for personal non-commercial use only; commercial use needs written permission from the author.
  • The repository metadata shows no license field.
  • Documentation is primarily in Simplified Chinese.

In collections

Reinforcement learning frameworks & training environmentsRobotics & embodied AI projectsEmbedded systems & microcontroller projects

Topics

#robotics#reinforcement-learning#diy-robot#3d-printing#imu#embedded#bipedal-robots#feetech#hd1910#microduck

FAQ

What is Microduck-kissqy?
A Chinese-language replication kit for the Microduck bipedal robot duck on Feetech HD1910 servos, with build guides, 3D prints, custom HAT/IMU boards and RL training tools. This project is a personal, community-built replication of the Microduck bipedal robot duck, originally published by Pollen Robotics, adapted to Feetech HD1910 servos. It covers the full path from buying parts to running the robot: a build guide with a bill of materials, a complete set of 3D-printable parts, custom HAT and IMU circuit boards, a prebuilt Radxa ZERO 3W system image, and firmware for the servo controller.
Is Microduck-kissqy free to use? What license does it have?
Microduck-kissqy has no declared license. Its code is public, but without a license you have no explicit permission to reuse it; ask the author before relying on it.
Is Microduck-kissqy still maintained?
Actively maintained. The last commit to Microduck-kissqy was on Nov 7, 2026.
What can I use Microduck-kissqy for?
Building a Microduck-style bipedal robot from parts Running and calibrating a feetech HD1910-based duck with the Chinese console Training walking or standing-up motions with reinforcement learning Learning how a small humanoid-style robot is wired, printed and controlled
How do I install Microduck-kissqy?
Flash the system image with Armbian Imager (select the .img.xz directly, no unzip needed) Connect to the Microduck-kissqy hotspot (password 12345678) and set up home Wi-Fi Unzip the robot console ZIP and run start.cmd to connect to the duck; calibrate and home before enabling motion: start.cmd
Where can I get Microduck-kissqy?
The source code and installation instructions are on GitHub: https://github.com/kissqy/Microduck-kissqy

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