FEETECH HD-1910-C001 Serial Bus Servo | MicroDuck Compatible, 6V 12kg·cm

FEETECH HD-1910-C001 Serial Bus Servo

Product Overview

The FEETECH HD-1910-C001 is a compact 6V 12kg·cm serial bus servo built for robot joints — from legged robots and robotic arms to research platforms. It is well suited to open-source robot builds such as MicroDuck, the bipedal robot duck from Pollen Robotics, where a full robot runs on 15 of these servos daisy-chained over a single TTL bus.

Inside its 21g, 34 × 20 × 23 mm dual-shaft housing, a coreless motor drives an all-metal 1/320 gear train on ball bearings. A 12-bit magnetic encoder delivers absolute 360° position control at 0.088° resolution with real-time feedback of position, speed, load current, voltage and temperature. Five configurable operating modes — including the factory-default pure position PD (Sim2Real) mode — make it equally suited to RL-trained gait policies and classic servo control.

Key Advantages

• Ready for MicroDuck and Similar Robot Joints

  The HD-1910-C001 is the servo adopted in community MicroDuck builds such as XGO Duck and microduck-replica, where 15 units drive a complete biped over a single TTL bus. With a 4–8.4V operating range and a compact 34 × 20 × 23mm dual-shaft housing, it is a practical choice for the joints of MicroDuck and many similar small legged robots and joint mechanisms.

• 12kg·cm Stall Torque for Dynamic Motion

  12kg·cm (1.18N·m) of stall torque at 6V, rising to 15kg·cm (1.47N·m) at 7.4V. With the coreless motor and metal gear train, it delivers 0.109 sec/60° (92 RPM) no-load speed at 6V (113 RPM at 7.4V) — enough torque and response for dynamic gaits, stand-up recovery and loaded joints.

• 12-Bit Magnetic Encoder with Full-Dimensional Feedback

  Absolute 360° position control at 0.088°/step (4,096 steps), with real-time feedback of position, speed, load current, input voltage and temperature — everything closed-loop control and Sim2Real policies need.

• Five Operating Modes with Force Limiting

  Angle-servo mode with current-based force limiting, constant-speed motor mode, constant-current motor mode, PWM open-loop speed mode, and pure position PD (Sim2Real) mode — the factory default for RL-driven robots. PID gains, ID (0–253), baud rate and rotation direction are user-configurable, and multi-loop mode extends absolute positioning to ±7 turns.

• Rugged Dual-Shaft Construction

  Metal gears on ball bearings, a PA66 + GF43% glass-fiber case, and dual-sided shafts that allow support-bearing mounting — rated for over 100,000 life cycles. Built-in over-temperature (default on), over-current and over-voltage protection, plus a 25T / Ø4.95mm spline with a round horn included.

• Standard TTL Serial Bus Communication

  Servos share one half-duplex TTL bus over a single 3-pin cable, daisy-chained and individually addressed by ID (0–253) at up to 1Mbps — with 3.3V / 5V controller compatibility and a 1kHz maximum position update rate.

Hardware Overview

Core Features

• Transmission structure: metal gear (1:320 ratio), ball bearings
• Motor: coreless
• Sensor: 12-bit magnetic encoder
• Operating voltage: 4–8.4V (typical 6V)
• Communication: TTL serial bus, up to 1Mbps
• Connector: 3-pin AMP 2.0-3P on a 15cm cable — Pin 1 TTL signal, Pin 2 Vcc, Pin 3 GND
• Protection: over-temperature (default on), over-current, over-voltage
• Feedback: real-time position, speed, load current, voltage, temperature
• Structure: dual-shaft, 25T / Ø4.95mm spline with round horn pre-installed

Compatible Platforms

• MicroDuck open-source bipedal robot (Pollen Robotics)
• Community MicroDuck builds: microduck-replica and XGO Duck
• Other serial bus servo robots requiring compact, high-torque actuators

Technical Specifications

Technical Support

For detailed technical documentation on software setup and code implementation, please refer to our official Wiki: Access Here (Feetech Bus Servo Tutorial). Community technical support is also available to help you accelerate project implementation.

MicroDuck builders can also refer to the open-source MicroDuck project and the community FEETECH-servo firmware tracks listed under Compatible Platforms.

Part List

• 1 x FEETECH HD-1910-C001 Serial Bus Servo (with 15cm TTL cable, AMP 2.0-3P connector)
• 1 x Round Horn, 25T / 8 × M2.0 (pre-installed)
• 1 x Screw Set