Microduck 的社区作品

Pollen Robotics 售价 $399 的行走鸭子机器人：软件开源，硬件闭源

许可证

• software (pollen-robotics/microduck) and training code (microduck_rl): Apache 2.0
• 3D model files (microduck_rl STL meshes, also used by community replicas; credit Pollen Robotics): CC BY-NC-SA 4.0

分别授权。Microduck 的软件及其训练代码采用 Apache-2.0。自 2026 年 10 月 9 日起，Pollen Robotics 以 CC BY-NC-SA 4.0 授权该机器人的 3D 模型文件（microduck_rl 中的 STL 网格）：仅限非商业用途，须注明 Pollen Robotics，分享修改时须保持相同许可证。用这些网格打印的复刻品同样适用。Pollen 没有公开机器人本体的 CAD、电路板或物料清单。核查日期：2026 年 11 月 5 日。

• A home-built Microduck on a Raspberry Pi Zero 2 W (AI-Fan (AI研究室-帆哥)): AI-Fan, of the YouTube channel AI-Fan AI研究室-帆哥, built a working Microduck at home and published the whole route, in Chinese, in a GitHub repository: a parts list around a Raspberry Pi Zero 2 W, a ROBOTIS OpenRB-150 servo board, 14 Dynamixel XL330 servos (ten in the legs, four in the head and neck), a BNO08x IMU and a 6 V battery pack; a ready-to-flash Raspberry Pi image with the walking policy and gamepad control; the servo IDs, wiring and first-run steps; and an mjlab setup to train the walk again. The repository's recordings show the robot walking, and the full build is a video tutorial on the channel. The tutorial's own code is MIT, but the printed parts come from Pollen Robotics' Microduck model files, which are licensed CC BY-NC-SA 4.0: build one for yourself, not to sell.