Microduck

Microduck is the software brain for Pollen Robotics' approximately 25 cm biped duck robot. It runs reinforcement-learning policies on a Rockchip RK3566, with a 50 Hz control loop for fifteen servos, radios, the camera, and behaviors such as walking, rolling, grasping, kicking, quacking, and self-righting; it also accepts gamepad control.

The Rust implementation is organized as daemons communicating through a shared JSON-RPC contract over Unix sockets. `robotd` owns the control loop and motor bus, while other services handle updates, configuration and Wi-Fi, Bluetooth, gamepad input, camera streaming over WebRTC, and the depth sensor. Signed updates are health-gated, reversible, and roll-backable. The policies are trained in the companion `microduck_rl` project with MuJoCo and PPO, then exported to ONNX for loading by this repository.