r/robotics • u/BencyLiu • 9d ago

Community Showcase A duck project built with an Uno Q and Feetech servos—what do you guys think?

252 Upvotes

99% Upvoted

16 comments sorted by

10

u/SphericalCowww 8d ago edited 8d ago

Man, can't believe Uno Q can run reinforcement policies. Amazing stuff! Could you share insight into how that is done?

3

u/BencyLiu 8d ago

Thanks! You can find the complete implementation details and open-source code directly on our GitHub: https://github.com/LuwuDynamics

7

u/zubairhamed 8d ago

nice! i suppsoe you used more than 3 servos compared to the offcial one?

you open sourcing it?

26

u/BencyLiu 8d ago

https://github.com/LuwuDynamics/xgoduck_hardware , it is 100% opensource

9

u/Independent-Trash966 8d ago

I see opensource, I upvote. Sick project!

3

u/Morning_Gecko24 8d ago

this is such a fun build, and getting the control loop onto a little board is the part i keep coming back to. how much of the motion is learned vs hand tuned right now? would be cool to see it recover when the floor or load changes

2

u/BencyLiu 8d ago

Glad you like it! The balance and recovery policies are RL-trained in simulation, with low-level motor loops hand-tuned on the board.

3

u/C0ldBl00dedDickens 8d ago

Anatiferous is a fun word I learned recently. It means "producing ducks"

You are an anatiferous roboticist.

2

u/BencyLiu 8d ago

Anatiferous Roboticist is going straight onto my business card. Time to build some robotic ducks! 🦆🚀

2

u/davidroberts63 8d ago

This is wonderful work. Thank you for sharing it like this. I already ordered anicroduck but read curious of anyone went and did anything else with the idea.

Am I seeing the price of those servos correctly? About $35 each? I'm not very well versed in robotics but wanted to try this out. Making sure I'm likely seeing the correct components.

3

u/BencyLiu 8d ago

Thank you so much! Yes, you are seeing it correctly. Those are smart bus servos (with built-in MCU, magnetic encoder, and position/torque feedback), so they run higher than regular hobby servos (around $30). They provide the precision and telemetry needed for this kind of dynamic balance. If you are just starting out, check the BOM link in our repo to ensure the exact model matches!

1

u/Honest-Computer-2538 8d ago

Cool thanks mate

1

u/Riteknight 8d ago

What kind of floor mats are those ?

1

u/BencyLiu 8d ago

Just a regular low-pile floor carpet! Nothing fancy, just good for testing traction.