[!WARNING] When testing and tuning servos, avoid stalling them as much as possible.

XGO-Duck

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Build a robot duck. Explore how it moves. Make it your own.

A 3D-printable biped robot built around Arduino UNO Q and 15 serial servos.

Assembly guide · Bill of materials · Runtime · Training

A clean somersault · CyberBionic Maker

Meet XGO-Duck

XGO-Duck is a duck-shaped biped robot adapted by Luwu Dynamics from Pollen Robotics' Microduck. It combines a printable structure, fifteen Feetech 1910 servos, an Arduino UNO Q, and a custom expansion board with an IMU and servo interfaces.

This repository is the hardware starting point: print the parts, prepare the electronics, and assemble the robot. Companion repositories provide the onboard runtime and reinforcement-learning tools, connecting a physical build with motion experiments.

A closer look

XGO-Duck prototype — printed parts, articulated legs, and a movable head and beak.

A movable head and beak Four neck/head joints and a separate mouth servo.

Electronics you can inspect Rear-mounted controller stack and accessible wiring.

The photos show project prototypes. Follow the assembly guide and matching board files for your build revision.

Hardware at a glance

The motion policy outputs targets for 14 joints; the mouth servo is controlled separately. Component details and purchasing checks are collected in the BOM notes.

How the system connects

flowchart TD
    UI[Browser: setup, calibration and control] <--> HOST[UNO Q Linux: ONNX policy and web UI]
    RL[Training computer: simulation and RL] -->|Export ONNX policy| HOST
    HOST <-->|Arduino Bridge| MCU[UNO Q STM32: servo and IMU loop]
    MCU <-->|Serial bus| SERVOS[15 Feetech 1910 servos]
    IMU[QMI8658A IMU] -->|Sensor feedback| MCU
    BOARD[Custom expansion board] --- SERVOS
    BOARD --- IMU

This is a functional overview; use the board design and assembly documentation for electrical connections.

Start your build

Hardware correction — 2026-10-02: The old ArduinoUnoQ PCB reverses GND and SIGNAL on U3, U4 and U5. Owners of previously manufactured boards should disconnect power and follow the old-board wiring instructions. Pin 2 power is unchanged. Schematic and PCB sources are updated.

1. Prepare parts and electronics

Open the bill of materials for the robot purchasing list, supplier links and battery requirements, and PCBA/ for the expansion-board files. The robot BOM and PCB manufacturing BOM serve different purposes: a finished expansion board already includes its board-level components.

Quantities include the optional roller skates: 4 additional M2 × 6 screws and 8 additional 10 × 15 × 3 mm bearings. Confirm the pack, charger, connector polarity and power requirements using the component notes before sourcing or powering the build.

The expansion-board store page also offers a separate battery-and-charger option. Select Only Robot Driver Board for Arduino UNO Q for the board above; the bundle has not been verified against the battery and charger specifications in this list. See the purchasing notes.

For easier purchasing, Luwu Dynamics offers an official XGO-Duck electronics kit containing all components in the BOM except the Arduino UNO Q.

Identify the three fasteners before ordering. Items 7 and 8 are self-tapping screws with flat ends. Items 8 and 9 share the same rounded side profile; item 8 has a flat top, while item 9 has the gently domed top shown in the photo below and a machine thread. The following shape guide is illustrative. See the product photo and size references in the BOM.

Item 9 has the domed top shown here. Item 8 has the same rounded sides but a flat top. The photo is a head-style reference, not a size or thread specification.

2. Print the structure

Download the models from structure/. The filenames carry useful assembly information:

Use the print inventory to track parts. Test a servo mount and bearing fit before printing the full set; a complete validated print profile is still to be documented.

For the optional roller skates, print 2x_tire_support.STL × 2, 4x_tire.STL × 4 and 4x_tire_axis.STL × 4.

Print orientation matters: place the part as shown before slicing — lay it flat with the open channel facing up and the two end tabs resting firmly on the build plate. Use 4 walls and 13% Gyroid infill. Do not stand it upright, lay it on its side, or flip it over, and do not rely on the slicer's auto-arrange. Otherwise the holes may deform and the ends may break. After slicing, check the preview against the reference image before printing.

3. Configure servos and assemble

Prepare each servo's ID and center position using the runtime setup instructions, then follow Assembly_Guide.pdf.

The build guide adds preparation and inspection checkpoints. Configure one servo at a time, label its ID, and leave cable clearance through each joint's movement.

4. Calibrate and bring it to life

Install the onboard runtime, verify servo and IMU feedback, and complete calibration with the robot supported. Start with the default pose before motion trials.

The runtime includes walk, get-up and pick policies, plus separate mouth control. Their behavior depends on the assembled hardware, calibration and test conditions. Using the bundled policies does not require training a new model.

Hardware files

From hardware to your own behavior

Keep the hardware, runtime and policy revisions together in your build record. This makes it easier to reproduce a working configuration and diagnose changes.

Origins and contributions

XGO-Duck builds on Microduck and microduck_rl by Pollen Robotics. The duck form, 15-servo arrangement and policy joint order originate in that work. Luwu Dynamics' adaptation focuses on Arduino UNO Q, Feetech 1910 servos, the custom expansion board, and the matching software/model integration. See origins and adaptations.

Build reports, tested print settings, clearer assembly photos and reproducible fixes are welcome. Read CONTRIBUTING.md or open an issue.

For reuse terms, consult LICENSING.md and the applicable file-level notices. Contact: hello@xgorobot.com.