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.

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.

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

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

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

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.

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

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.

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

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.

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

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.

From scratch 5' 9", 29-joint bipedal humanoid robot. Built by Hand. Bound for Space. Real-time embedded control, sensor fusion, and LLM reasoning, with every design decision backed by a publishished experiment.

Qmini 双足机器人自动 PD 系统辨识、Isaac Gym PPO 训练、ONNX 真机部署与手机网页控制

A 3D-printed bipedal T-rex that learns to walk in Isaac Sim and runs the policy on its own Raspberry Pi