Microduck-Inspired Biped Robot Duck: ESP32-P4 or HI3516CV610?
A biped robot gives motion control a physical consequence: a small change to a leg trajectory shifts how the body balances. The ESP32S Biped Robot Duck is a compact platform for exploring that interaction on a workbench. Choose ESP32-P4 for a motion-control or sensor-integration project, or HI3516CV610 for a camera-centered experiment.
This independently developed robot takes inspiration from Pollen Robotics' Microduck project. The two products have separate hardware and software offerings. The ESP32S version comes with basic operating and commissioning guidance. Upstream firmware, trained behaviors and simulation compatibility are unverified for this hardware. Original Microduck project
See the robot in an engineering test
The clip below shows the development prototype in a test session. Use it to see the physical layout and movement of the test unit. Firmware and test conditions may differ from the delivered configuration.
Watch the engineering demo on YouTube Shorts
Which controller fits your project?
ESP32-P4 for movement and peripherals
Start here if you want to work on coordinated motion, external peripherals or multiple sensor inputs. A useful first goal is to record the body orientation during a short, repeatable motion and see how the readings change as the robot shifts its weight. Review the supplied interface documentation before selecting an external sensor or toolchain.
HI3516CV610 for vision experiments
Choose this version if the camera is central to your project. Begin with a stationary image capture or an observation log, then consider how a visual event could feed into a separate motion decision. Check the available camera interfaces and examples before choosing a model or planning real-time inference.
What both versions share
Both versions use the same approximately 25 cm robot body, with 15 servo channels, a front camera, ToF sensing and an IMU. The 3D-printed enclosure gives access to the mechanical assembly. Each order includes the selected controller version, the assembled robot, a battery, a charging adapter and basic guidance. Check the product page for current ordering details.
Three practical ways to start
- Observe motion. Record a short sequence in a clear test area and note how the legs, neck and body move together. Keep the test conditions consistent when comparing changes.
- Inspect sensor readings. With the robot supported or stationary, use the available tools to observe one input at a time. Compare distance readings or body orientation before connecting them to movement.
- Plan a camera experiment. Define the image or event you want to detect and check the available sample workflow. Once the observation is reliable, decide whether it should trigger a log, an indicator or a controlled motion.
Check the software scope before ordering
The package provides basic commissioning guidance. If your project requires particular APIs, source files, mechanical models or a simulation workflow, compare those requirements with the product documentation before selecting a controller.