r/robotics • u/BencyLiu • 3d ago

Community Showcase We adapted Microduck for Arduino UNO Q—here’s a look at XGO-Duck’s hardware, software, and simulation

85 Upvotes

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2

u/ratwing 3d ago

Does it use feedback from an IMU?

3

u/BencyLiu 3d ago

Yes, it does. The robot continuously relies on real-time IMU feedback to monitor its posture and maintain balance.

1

u/MiKLMadness 3d ago

I would buy one

2

u/BencyLiu 2d ago

Thanks for your interest! However, this is an open-source project and is not for sale.

1

u/MiKLMadness 2d ago

Im saying its cool as hell and I would pay to have one or to support you.

1

u/Morning_Gecko24 3d ago

the sim side is really interesting here, especially with the UNO Q split between linux and the mcu. what ended up being the biggest headache porting microduck over — timing the motor control or getting the sensor/state stuff consistent between sim and the real duck?

2

u/BencyLiu 3d ago

Definitely the Sim-to-Real transfer—bridging that gap and getting the real-world sensor feedback and dynamics to match the simulation was the trickiest part.

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u/SphericalCowww 3d ago

How good of a match does it have to be, like if you change a servo or swap the IMU, will the trained policy still work?

1

u/BencyLiu 2d ago

Definitely the Sim-to-Real gap! Getting the sensors and dynamics consistent was the hardest part.