Antoine Pirrone Open Duck Mini v2 price & specs

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 built

AvailableRL walkingDisney BDX-styleMuJoCo PlaygroundDIY buildBig community

Weeks+Shipping: 2–4 wks.

LEARN MORE (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.

Type: Biped robot · Open-source RL bipeds
Maker: Antoine Pirrone & community
Released: 2025
Price: ~$400 DIY · $600 kit · $900–1,000 built
Status: Available
Best for: Ages 14+
Programming: Open source (hardware + software)

Price and shipping

README BOM "under $400". Tnkr parts kit $600. Assembled units on Tindie (China)

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 ↗

Specifications

Category	Bipeds · Open-source RL bipeds
Released	2025
Country	France
Availability	Available
DIY build plans	Open Duck Mini v2 · parts $400 (estimate) · difficulty 3/5
Programmability	Open source (hardware + software)
Built-in autonomy	None / scripted · Moves only when controlled, or plays preset motions
LLM support	Possible via SDK · Open-source RL runtime on a Pi Zero 2W, no LLM features.
MuJoCo simulation	Sim-to-real kit · Open_Duck_Playground trains in MuJoCo Playground, and the runtime deploys the policies on the robot. Open_Duck_Playground ↗
NVIDIA Isaac simulation	Maker URDF only · Maker publishes a URDF. Community Isaac Lab ports exist (e.g. GiulioRomualdi/isaaclab.open_duck_mini). Open_Duck_Mini ↗
Gazebo simulation	Maker URDF only · Maker publishes a URDF, no Gazebo package. Open_Duck_Mini ↗
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. Recovers from a push from behind shown on video.
SDK	Open_Duck_Playground (training), Open_Duck_Mini_Runtime (ONNX on the Pi, Xbox controller)

Common questions

How much does Open Duck Mini v2 cost?

Open Duck Mini v2 is listed at ~$400 DIY · $600 kit · $900–1,000 built. README BOM "under $400". Tnkr parts kit $600. Assembled units on Tindie (China).

Can Open Duck Mini v2 be bought today?

Yes, it is on sale. Typical shipping time is 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).