References and Project Index
E.1 Open-Source Projects
| Project | URL |
|---|---|
| Pollen microduck_rl | https://github.com/pollen-robotics/microduck_rl |
| Pollen microduck (firmware) | https://github.com/pollen-robotics/microduck |
| Pollen mjlab | https://github.com/pollen-robotics/mjlab |
| fanhao375 microduck-replica | https://github.com/fanhao375/microduck-replica |
| fanhao375 microduck-replica-cad | https://github.com/fanhao375/microduck-replica-cad |
| UnitClaw microduck-wwduck (WWNTRobotics-optimized edition) | https://github.com/UnitClaw/microduck-wwduck |
| LuwuDynamics xgoduck_hardware | https://github.com/LuwuDynamics/xgoduck_hardware |
| onshape-to-robot | https://github.com/onshape-to-robot/onshape-to-robot |
| NVIDIA Warp | https://github.com/NVIDIA/warp |
E.2 Official Pages and Documentation
| Content | URL |
|---|---|
| MicroDuck product page | https://pollen-robotics.com/microduck/ |
| MicroDuck pre-order store | https://store.pollen-robotics.com/products/microduck |
| HF online simulation | https://huggingface.co/spaces/pollen-robotics/microduck-simulator |
| onshape-to-robot docs | https://onshape-to-robot.readthedocs.io/ |
| Onshape | https://cad.onshape.com/ |
| Warp docs | https://nvidia.github.io/warp/ |
| MJCF docs | https://mujoco.readthedocs.io/en/latest/modeling.html |
| FreeCAD | https://www.freecadweb.org/ |
| Feetech HD1910 product page | https://www.feetech.cn/500263.html |
| HD1910 XGO-Duck kit | https://www.feetech.cn/en/509038.html |
E.3 Foundational Literature (for citation)
The following are classical methodological references; verify the exact entries before citing during writing.
- PPO: Schulman et al., Proximal Policy Optimization Algorithms.
- Domain Randomization: related work by NVIDIA's Tobin et al.
- BAM servo model: Pollen MicroDuck technical papers / blog posts.
- Low-cost bipedal Sim-to-Real: Pollen MicroDuck technical paper.
Writing convention: on formal publication, verify DOI / volume / page numbers for all references; cite sources when quoting in the main text, and do not erase original authorship.
E.4 Reference-Material Archive
All original material for this book is archived in the repository's book/materials/, organized into subdirectories:
pollen_original/: original RL, firmware, blog, papers;replica_source/: microduck-replica source snapshot;cad/: CAD drawings, STEP, Onshape config;feetech_hd1910/: servo specs, protocol, calibration docs;hardware/: RK3566, IMU, power;framework_docs/: MuJoCo-Warp, mjlab, PPO;scripts/: companion scripts;references/: literature and terminology.
Note: some external resources cannot be downloaded and packaged directly; the archive provides access link + acquisition method + key notes instead. The complete HD1910 PDF datasheet and serial-protocol documents must be requested from Feetech customer service.