Open Duck Mini

3,406 stars on GitHub.

Open Duck Mini — Bipedal BDX Droid Replica

Source: https://github.com/apirrone/Open_Duck_Mini

A miniature bipedal character robot inspired by Disney's BDX droid — the small two-legged star of the Galactic Starcruiser walkabout experience. Standing roughly 42 cm tall with its legs extended, Open Duck Mini v2 recreates the droid's expressive, duck-like gait in a fully open-source design that targets a complete bill of materials under $400.

The mechanical design is authored in Onshape and simulated in MuJoCo, with locomotion trained end-to-end through reinforcement learning. The project has put heavy work into sim-to-real transfer, publishing trained ONNX walking policies that run on the robot itself. The onboard runtime executes those policies on a Raspberry Pi Zero 2 W, and the training stack is moving to MuJoCo Playground alongside a reference-motion generator for imitation learning.

Planned "expression" features — LED eyes, a camera, a speaker and a microphone — extend the base walker into a fuller character robot and can be added after the build. The project is documented as it evolves (print guide, assembly guide, and a community Tnkr build guide), backed by an active Discord community, and sponsored by Hugging Face and Pollen Robotics.