bipedal-robot

What's the simplest possible AI robot that learns everything from scratch?

超能花钱鸭 Fanduck · Microduck 已复刻成功！分享实机演示、物料清单、3D 打印、板件、制作工具与 3D 镜像工作台。Build resources from our completed Microduck replica.

Primo open source humanoid robot. 3D printed, 30 RobStride actuators, Jetson Thor. In design.

Humanoid research project (Phase 0): firmware, host software, STL files and electronics for tendon-driven joints inside real human proportions. GPLv3 software, CC BY-NC-ND hardware files.

LocoVLA - Learn robot control, RL and VLA on a wheeled biped (Upkie + MuJoCo). 58-lesson open course: classical control, state estimation, reinforcement learning, vision-language-action, C++/ROS2 deployment.

PAW: open-source, low-cost wheel-legged self-balancing robot. STM32 100 Hz cascaded balance control, 5-bar legs on Dynamixel AX-12, FlySky RC, wireless tuning GUI. A cheap testbed for control and sim-to-real RL research.

Open source hardware for a bipedal wheel robot — CERN OHL licensed

Simulation-validated 25 mm step-up and head-brake recovery policies for Pollen Robotics Microduck

DeepSeek 鲸鱼娘具身机器人 🐋 An expressive Whale-chan robot in MuJoCo: walking, waving, tail motion and expressions. Toward an embodied AI companion.

Autonomous robot soccer for Pollen Robotics Microduck in MuJoCo — head-camera vision, visual servoing, physical biped kicks, and a monocular goalkeeper.

Drop-in Genesis World physics simulation for Pollen Robotics Microduck with daemon IPC parity and vectorized RL locomotion.

Reproduced, diagnosed and fixed a locomotion training failure in an open-source bipedal robot (microduck_rl issue #46). Found a reward gate that pays for stepping in place, and showed the project's error metric overestimates tracking error about 3x.

ROS 2 Jazzy stack for the Qmini bipedal robot: runs an Isaac-Lab-trained PPO policy (ONNX) on a Raspberry Pi 5, driving 10 Unitree GO-M8010-6 joints over 4 RS-485 channels with a Wheeltek N100 IMU and software-enforced safety/deadman.

Fork of Open Duck Mini: hardware, simulation and control resources for a miniature bipedal robot inspired by the BDX droid.

15-servo bipedal humanoid (~40 cm, 1.5 kg) on an ESP32-S3. 400 Hz balance and gait control from three IMUs, capture-point stepping, push recovery, and a phone web UI for live tuning and control.

CMU's first hand-built MicroDuck: procurement, printing, wiring, assembly guide, bring-up and runtime to reproduce the 2026-10-23 robot (with head touch sensing)

Small bipedal dinosaur robot: CAD, MuJoCo/PPO training, collision audits, and IMU head control.

Open database of 68 humanoid robots: specs, prices and availability with a source for every value. Tesla Optimus, Figure, Unitree, 1X NEO, Atlas and more. CSV + JSON, CC BY 4.0.

Microduck brain-swap: SpacemiT RISC-V K3/K1 runtime port + sim integration