Steve Pederzani

Rendered Microduck outfit concept - The Flash: scarlet suit, gold boots, gold cowl blades and a chest roundel struck with a scarlet bolt, worn through a simulated 5 m dash in MuJoCo. The kit is geom_rgba plus six zero-density, non-colliding geoms; duck_outfit.py compiles the robot dressed and bare and proves masses, inertias, actuators and contacts identical. Rendered only; no hardware.

Steve Pederzani·Microduck

Trained simulated MicroDuck sprint policy (MuJoCo): a 5 m dash with every joint clipped to the XL330 servo's real 1.75 A current limit, 50 Hz, 40 ms actuator delay, sensor noise, domain randomization. Fastest of 240 seeded runs: 5.00 m in 3.55 s, then a commanded brake and a fall, all closed-loop, nothing keyframed. The Flash costume is zero-mass paint, verified by script. Simulation only; not validated on hardware.

Steve Pederzani·Microduck