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Microduck Feetech HD1910 replica guide: parts, 3D printing, firmware, calibration and training
Microduck-kissqy is kissqy's working physical replica project based on Pollen Robotics Microduck 0.15.1, for Radxa ZERO 3W, 15 Feetech HD1910 servos and this repository's HAT / torso IMU. It includes a system image, a Chinese-language Robot Console, a separate reinforcement-learning Training Studio, PCB projects and printing files.
Stable public baseline: Robot Console R17 V167 / control.43 / Training Studio R1.5.27. Updated October 23, 2026. See the release baseline and validation scope. Source is available; the author's original additions carry personal noncommercial terms, while upstream and third-party components retain their respective licenses. See component licensing.
Choose your starting point
| Your situation | Start here |
| You saw a robot video and want to build one | Follow parts, printing, electronics and software below |
| Mechanical and electrical assembly is ready | Start with imaging and calibration |
| Your robot works and you want your own movements | Go to step 6 |
| Network, reboot, IMU or gamepad trouble | Frequently asked questions |
1. Prepare parts and tools
Use the duck shopping guide for body parts, PCBs and tools. The reference build uses ZERO 3W, 15 HD1910 servos, a camera, ToF, speaker, battery, HAT and a separate torso IMU. Prices are historical order references; check the included and excluded costs.
See the tool list for soldering, reflow and flashing tools. Other controllers and servos are not automatically supported by this image or mechanical layout.
2. Print and assemble the mechanical parts
The FrankenDuck printing set contains 36 STLs and one 3MF project with five plates. Adapt printer and material profiles, including TPU parts.
Choose the HUB battery-holder variant or the official-style holder with thicker latches; both IMU mounts fit this repository's IMU. The October 21 update adds leg support ramps, removes outer leg-shell counterbores and integrates interchangeable feet and roller assemblies without servo removal. Rollers use 623ZZ bearings.
This page links the build stages; individual part instructions are on the printing page. File counts are not assembly quantities.
3. Prepare HAT, IMU and power
The hardware guide contains PCB projects, parts tables and two connector versions. See the HAT build record and IMU build record and video.
A newly built STM32 IMU needs its separate FT6 firmware. Imaging ZERO or upgrading robot services does not flash the IMU. Use the IMU flashing guide for downloads, SWD wiring and checks.
Follow the assembly notes for 5 GHz Wi-Fi and a 1000 µF capacitor across the main power input, including polarity, voltage rating and placement.
4. Flash the image and connect Robot Console
- Download System Image R1 and write the compressed image directly to a microSD card using Armbian Imager.
- On first boot, join the
Microduck-kissqyhotspot and configure your home Wi-Fi and a new login password. If the setup does not open automatically, visithttp://10.42.0.1:8088. - Download Robot Console V167 from Downloads, extract the complete archive and run
start.cmdon Windows orstart.commandon macOS. - Enter your ZERO's SSH address and credentials. Image R1 includes control.40; install V167's bundled firmware through the console to reach control.43.
See the V167 user guide for installation, logs and controls. The online demos use simulated data; actual control requires the locally running console.
5. Calibrate your own robot before movement
Check zero position, direction and limits for all 15 joints, plus IMU mounting orientation. A reference robot's calibration cannot replace calibration of your own assembly.
Inspect joint and pose feedback before HOME, hold and walking. Use the V167 control guide for gamepad modes, roller movements and their conditions. The FAQ helps distinguish connection, service, communication and movement problems.
6. Train movements and deploy them
Ordinary use can start with the released models. Install Training Studio only when needed. The R1.5.27 training guide covers environment preparation, queues, reward curves, simulation evaluation and model export. The public version provides 14 movement categories and 35 task recipes.
Workflow: prepare environment → choose task and parameters → queue and start → evaluate in simulation → export → check firmware and policy contracts → validate on the real robot. Robot Console and Training Studio are separate tools. Simulation success does not guarantee identical performance on every assembly.
Demonstrations, validation and feedback
The repository homepage retains seven separate real-robot clips. Treat each demonstrated result within its recorded conditions, rather than as validation of every action. See the published validation scope.
Report issues with hardware configuration, console version, running firmware identifier, reproduction steps and logs or video in GitHub Issues. If these resources help your build, Star the repository to keep its update entry point handy.
Author: kissqy · Original repository · FAQ · Documentation index
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Microduck Feetech replica FAQ: setup, calibration, IMU, gamepad Wi-Fi interference and power reboots
Scope: Microduck-kissqy, Radxa ZERO 3W, Feetech HD1910, Robot Console V167 / control.43. Author: kissqy. Updated October 23, 2026. Complete replica build guide.
What does a Microduck replica cost, and where is the BOM?
The shopping guide and cost breakdown separate body parts, HAT, IMU and tools using historical orders. Check the scope for printing, equipment, consumables, labor and unpriced items; the priced-material subtotal is not everyone's final build cost.
Where are the replica STL files and 3MF plates?
The FrankenDuck printing page provides STLs, a five-plate 3MF, previews and checksums. Adapt settings to your printer, materials and assembly.
What do I download for the HD1910 build?
For normal operation, download System Image R1 and Robot Console V167. Add Training Studio R1.5.27 when training your own movements. Use the Downloads table.
R1 includes control.40; install V167's bundled firmware to update to control.43. These identifiers distinguish the image contents from the current stable runtime.
Can the online demo connect to my robot?
No. The GitHub Pages consoles demonstrate the interfaces with simulated data. Extract and run the local Robot Console, then enter ZERO's SSH connection details. See the V167 user guide.
Why flash the IMU separately after imaging ZERO?
ZERO and the IMU's STM32 are separate devices. The system image and robot services run on ZERO; a newly built IMU needs FT6 firmware. Downloads, SWD wiring and checks are in the IMU guide.
Why does ZERO lose Wi-Fi or SSH when the gamepad connects?
The author encountered interference between 2.4 GHz Wi-Fi and the wireless gamepad. Configure ZERO to use 5 GHz Wi-Fi and verify the actual frequency, not just the SSID. Commands and details are in the assembly notes.
An SSH timeout alone does not establish interference. Also check whether ZERO rebooted and whether Wi-Fi stayed connected.
Why does ZERO reboot during high-load servo movements?
In the author's build, missing main-input buffering made servo transients prone to triggering reboots. This project's assembly notes call for 1000 µF across the main power input. Follow the power notes for placement, polarity and voltage rating. If reboots persist, inspect the battery, supply, wiring, connectors and voltage drop under load; a capacitor does not replace sufficient supply capability.
Can I copy the author's calibration if directions or posture look wrong?
Do not copy it blindly. Verify your robot's joint zero positions, directions, limits and IMU mounting. Compare console feedback with physical movement before enabling policies. Increasing force does not correct wrong directions or mechanical assembly. Follow the Robot Console guide.
Which HAT and IMU connector versions exist?
The repository retains original EH2.5 and AMP2.0 variants. The latter uses Feetech AMP2.0 servo connectors; audio connectors and the added LED are detailed in the variant guide. Projects and purchase links are on the hardware page; see the HAT and IMU build records.
Must I remove servos to swap feet and rollers?
The current FrankenDuck kit includes a foot structure that accepts rollers without servo removal. Bearings are 623ZZ, 3 × 10 × 4 mm. Use the matching parts and material profiles. Both battery-holder IMU mounts fit this repository's IMU.
Does training need ZERO? Does simulation prove real-robot performance?
Training Studio runs independently; training itself does not require ZERO. Read or import calibration when needed according to the guide. Assembly, calibration, dynamics and power differ between simulation and hardware, so simulation cannot replace physical validation. See the training guide.
What should an issue report include?
Provide hardware and connector variants, console version, running firmware identifier, reproduction steps, symptoms and logs or video in Issues. Distinguish connection failure, service startup failure, bus communication errors and movement problems.