LuwuDynamics / xgoduck_hardware

> [!WARNING]
> **This hardware revision is for learning and testing only. PCB fabrication for mass production is not recommended.**
>
> **Never connect or disconnect servos while powered. Disconnect power before plugging or unplugging servos, and avoid stalling them.**
# XGO-Duck
**English** · 简体中文
**Build a robot duck. Explore how it moves. Make it your own.**
A 3D-printable biped robot built around Arduino UNO Q and 15 serial servos.
Assembly guide · Bill of materials · Runtime · Training
*A clean somersault · CyberBionic Maker*
## Meet XGO-Duck
XGO-Duck is a duck-shaped biped robot adapted by **Luwu Dynamics** from Pollen Robotics' **Microduck**. It combines a printable structure, fifteen Feetech 1910 servos, an Arduino UNO Q, and a custom expansion board with an IMU and servo interfaces.
This repository is the hardware starting point: **print the parts, prepare the electronics, and assemble the robot**. Companion repositories provide the onboard runtime and reinforcement-learning tools, connecting a physical build with motion experiments.
| Build | Run | Experiment |
| --- | --- | --- |
| Print the body, legs, neck, head and soft parts. Assemble with the illustrated guide. | Configure and calibrate the robot through the companion runtime's browser interface. | Study the simulation, train policies and explore your own motions. |
| Hardware files | Onboard runtime | RL tools |
## A closer look
*XGO-Duck prototype — printed parts, articulated legs, and a movable head and beak.*
 A movable head and beak Four neck/head joints and a separate mouth servo. 
 Electronics you can inspect Rear-mounted controller stack and accessible wiring. 
The photos show project prototypes. Follow the assembly guide and matching board files for your build revision.
## Hardware at a glance
| Subsystem | What it uses | Role |
| --- | --- | --- |
| Controller | Arduino UNO Q | Linux host for policy inference and web UI; STM32 MCU for servo and sensor communication |
| Actuation | 15 Feetech 1910 serial servos | 10 leg joints, 4 neck/head joints, and 1 mouth joint |
| Expansion board | Luwu UNO Q expansion board | Power distribution, servo connections and IMU integration |
| Motion sensing | QMI8658A 6-axis IMU | Acceleration and angular-velocity feedback |
| Structure | STL parts | Body, leg, neck and head components |
| Soft parts | TPU-designated STL files | Foot soles and mouth parts |
The motion policy outputs targets for **14 joints**; the mouth servo is controlled separately. Component details and purchasing checks are collected in the BOM notes.
### How the system connects
 [code] 
This is a functional overview; use the board design and assembly documentation for electrical connections.
## Start your build
> **Hardware correction — 2026-10-02:** The old ArduinoUnoQ PCB reverses GND and SIGNAL on **U3, U4 and U5**. Owners of previously manufactured boards should disconnect power and follow the old-board wiring instructions. Pin 2 power is unchanged. Schematic and