Biped · 2024
Open Duck Mini v2
A small biped trained in simulation and transferred to hardware. Every part printed, the RL training pipeline published, and it actually balances — which is rare in hobby bipeds.
$700
Antoine Pirrone / community
12 – 14 DOF
Open source
Why it matters
The cheapest complete sim-to-real biped pipeline you can follow end to end. Train a policy on your own GPU, run it on a Pi.
Where it falls short
Falls often and plastic-gear servos do not forgive it. Budget for replacement servos.
Read this if you plan to copy itThe parts below are the same classes of component at this platform scale — they are not the exact vendor parts. Use them to understand the architecture and to price a home-built equivalent.
What it is made of
| Subsystem | Comparable part | Price | Primary spec |
|---|---|---|---|
| Actuators | Feetech STS3215 | $17 | 30 kg·cm (2.94 N·m) @ 7.4 V |
| Compute | RP2040 / Pico 2 | $4 | 2× Cortex-M0+ @ 133 MHz (Pico 2: RISC-V/M33 option) |
| Sensors | BNO085 9-DOF IMU | $25 | 3-axis accel + gyro + magnetometer |
Software you would touch
MuJoCo · Isaac Lab / mjlab · Python · ONNX runtime