# luwudynamics/xgoduck_hardware architecture

> Architecture diagram of the GitHub repository luwudynamics/xgoduck_hardware, generated by GitDiagram from its file tree, README and a sample of source files (last updated 2026-09-29). It is an AI-made overview: check details against the source.

- Interactive diagram: https://gitdiagram.com/luwudynamics/xgoduck_hardware
- Repository: https://github.com/luwudynamics/xgoduck_hardware

## Overview

This is a hardware design repository for building the XGO Duck biped robot, not the robot’s runtime software. The documented build flow is to source the listed parts, print the structural pieces, fabricate the Arduino Uno Q expansion board, and assemble the robot using the guide. The board stacks on the Uno Q and provides power and connections for the servos and IMU. Runtime policies, firmware, and web UI are maintained in a separate repository; no source excerpts were available, so the graph is limited to documented hardware relationships.

Main entry points: [`PCBA/ArduinoUnoQ.SchDoc`](https://github.com/luwudynamics/xgoduck_hardware/blob/master/PCBA/ArduinoUnoQ.SchDoc) (Expansion Board), [`bom.xlsx`](https://github.com/luwudynamics/xgoduck_hardware/blob/master/bom.xlsx) (Robot BOM), [`structure`](https://github.com/luwudynamics/xgoduck_hardware/tree/master/structure) (Printable Parts), [`Assembly_Guide.pdf`](https://github.com/luwudynamics/xgoduck_hardware/blob/master/Assembly_Guide.pdf) (Assembly Guide)

## Diagram (Mermaid)

```mermaid
flowchart TD

subgraph group_structure["Printed Structure"]
  node_structure_parts["Printable Parts"]
end

subgraph group_electronics["Electronics"]
  node_expansion_board["Expansion Board<br/>[ArduinoUnoQ.SchDoc]"]
  node_uno_q["Arduino Uno Q"]
  node_servos["Feetech Servos"]
  node_imu["QMI8658A IMU"]
end

subgraph group_build["Build Materials"]
  node_assembly_guide["Assembly Guide<br/>[Assembly_Guide.pdf]"]
  node_robot_bom["Robot BOM<br/>[bom.xlsx]"]
end

node_builder(("Builder"))
node_robot["XGO Duck"]

node_builder -->|"consults"| node_robot_bom
node_builder -->|"prints"| node_structure_parts
node_builder -->|"fabricates"| node_expansion_board
node_builder -->|"follows"| node_assembly_guide
node_robot_bom -->|"lists"| node_uno_q
node_robot_bom -->|"lists"| node_servos
node_uno_q -->|"stacks with"| node_expansion_board
node_expansion_board -->|"connects"| node_servos
node_expansion_board -->|"carries"| node_imu
node_assembly_guide -->|"guides assembly"| node_robot
node_structure_parts -->|"form structure"| node_robot
node_expansion_board -->|"integrates into"| node_robot

click node_structure_parts "https://github.com/luwudynamics/xgoduck_hardware/tree/master/structure"
click node_assembly_guide "https://github.com/luwudynamics/xgoduck_hardware/blob/master/Assembly_Guide.pdf"
click node_robot_bom "https://github.com/luwudynamics/xgoduck_hardware/blob/master/bom.xlsx"
click node_expansion_board "https://github.com/luwudynamics/xgoduck_hardware/blob/master/PCBA/ArduinoUnoQ.SchDoc"

classDef toneNeutral fill:#f8fafc,stroke:#334155,stroke-width:1.5px,color:#0f172a
classDef toneBlue fill:#dbeafe,stroke:#2563eb,stroke-width:1.5px,color:#172554
classDef toneAmber fill:#fef3c7,stroke:#d97706,stroke-width:1.5px,color:#78350f
classDef toneMint fill:#dcfce7,stroke:#16a34a,stroke-width:1.5px,color:#14532d
classDef toneRose fill:#ffe4e6,stroke:#e11d48,stroke-width:1.5px,color:#881337
classDef toneIndigo fill:#e0e7ff,stroke:#4f46e5,stroke-width:1.5px,color:#312e81
classDef toneTeal fill:#ccfbf1,stroke:#0f766e,stroke-width:1.5px,color:#134e4a
class node_structure_parts toneBlue
class node_expansion_board,node_uno_q,node_servos,node_imu toneAmber
class node_assembly_guide,node_robot_bom toneMint
class node_builder,node_robot toneIndigo
```

## Components

### Printed Structure

- [Printable Parts](https://github.com/luwudynamics/xgoduck_hardware/tree/master/structure): `structure`

### Electronics

- [Expansion Board](https://github.com/luwudynamics/xgoduck_hardware/blob/master/PCBA/ArduinoUnoQ.SchDoc): `PCBA/ArduinoUnoQ.SchDoc`
- **Arduino Uno Q**
- **Feetech Servos**
- **QMI8658A IMU**

### Build Materials

- [Assembly Guide](https://github.com/luwudynamics/xgoduck_hardware/blob/master/Assembly_Guide.pdf): `Assembly_Guide.pdf`
- [Robot BOM](https://github.com/luwudynamics/xgoduck_hardware/blob/master/bom.xlsx): `bom.xlsx`

### Other components

- **Builder**
- **XGO Duck**

## Connections

- Builder → Robot BOM: consults
- Builder → Printable Parts: prints
- Builder → Expansion Board: fabricates
- Builder → Assembly Guide: follows
- Robot BOM → Arduino Uno Q: lists
- Robot BOM → Feetech Servos: lists
- Arduino Uno Q → Expansion Board: stacks with
- Expansion Board → Feetech Servos: connects
- Expansion Board → QMI8658A IMU: carries
- Assembly Guide → XGO Duck: guides assembly
- Printable Parts → XGO Duck: form structure
- Expansion Board → XGO Duck: integrates into