Antoine Pirrone & community Open Duck Mini v2 (1)

Antoine Pirrone & community Open Duck Mini v2 (2)

Antoine Pirrone & community Open Duck Mini v2 (3)

~$400 DIY · $600 kit · $900–1,000 builtREADME BOM "under $400"; Tnkr parts kit $600; assembled units on Tindie (China)

AvailableRL walkingDisney BDX-styleMuJoCo PlaygroundDIY buildBig community

Weeks+Shipping: 2–4 wks. DIY: STS3215 servos and electronics from AliExpress take about 2 weeks, then printing and a weekend or two of assembly. Assembled Tindie units ship from Guangdong (est. 1–3 weeks, tariffs may apply). Tnkr kit ↗

GitHub ↗Playground ↗Tnkr kit ↗Tindie (built) ↗

Overview

The cheapest genuinely dynamic RL biped available now. Training is MuJoCo-native, and the Discord and build guides are mature. Budget 1–3 weekends of printing, wiring and servo calibration. The Pi Zero 2W has no headroom beyond running the policy. Pick this over Microduck to build and modify the hardware.

Specifications

Category	Bipeds · Open-source RL bipeds
Released	2025
Availability	Available
Programmability	Open source (hardware + software)
Best for	Ages 14+ (estimated)
Vision sensors	Camera
Actuators	Smart servos (Dynamixel, Feetech…)
Audio	Speaker
Compute type	Raspberry Pi, Rockchip
Balance type	RL walking
Height	~42 cm
Weight	~2.1 kg (est., from MJCF model)
Compute	Raspberry Pi Zero 2W (Tindie builds: Pi 4B or RK3576)
Speed	~0.15 m/s (est.; training command range)
DOF	14 Feetech STS3215 (2×5 legs + 4 neck/head) + antenna micro-servos
Sensors	BNO055 IMU; optional camera, speaker
Balance	RL walking policy trained in MuJoCo Playground with push perturbations and actuator models; back-push recovery shown on video.
SDK	Open_Duck_Playground (training), Open_Duck_Mini_Runtime (ONNX on the Pi, Xbox controller)