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我们正在制作迪士尼BDX机器人的微缩版。双腿伸展后它高约42厘米。全部物料清单成本应该低于400美元！
这个仓库就像一个枢纽，我们在这里集中所有与该项目相关的资源。这是一个正在运行的仓库，所以有很多未记录的脚本 :) 我们会尝试在某个时候清理它们。
Duck1.mp4
open_duck_mini_real_demo.mp4
open_duck_mini_v2_real_back_push_smaller.mp4
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 !
Join our discord community ! https://discord.gg/UtJZsgfQGe
See this document for getting from a onshape design to a simulated robot in MuJoCo (Warning, outdated. Has not been updated in a while)
We are switching to Mujoco Playground, see this repo
Video_2025-05-02_10-33-18.mp4
ref_motion_demo.mp4
See this repo
We used Rhoban's BAM
https://docs.google.com/spreadsheets/d/1gq4iWWHEJVgAA_eemkTEsshXqrYlFxXAPwO515KpCJc/edit?usp=sharing
Chinese: https://zihao-ai.feishu.cn/wiki/AfAtw69vRigXaRk5UkbcrAiLnJw?from=from_copylink
Chinese: https://zihao-ai.feishu.cn/wiki/space/7488517034406625281
See print_guide.
See assembly guide (incomplete).
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
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 !