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.

FEETECH HD-1910-C001 Serial Bus Servo

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

HD-1910-C001 2D dimension drawing

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

Product Name	FEETECH HD-1910-C001 Serial Bus Servo
Model	HD-1910-C001 (HD1910M series)
Operating Voltage	4–8.4V (typical 6V)
Stall Torque	12kg·cm @6V (15kg·cm @7.4V)
No-Load Speed	0.109 sec/60° (92 RPM) @6V, 0.088 sec/60° (113 RPM) @7.4V
Transmission Structure	Metal gear, 1:320
Encoder Type	12-bit magnetic encoder (0.088°)
Communication Protocol	TTL serial bus (up to 1Mbps)
Feedback Data	Position, speed, load current, voltage, temperature
Protection Functions	Over-temperature (default on), over-current, over-voltage
Rotation	360° continuous; ±7-turn multi-loop mode
Dimensions / Weight	34 × 20 × 23mm / 21 ± 2g
Compatible Robotic Platforms	MicroDuck bipedal robot, XGO Duck, microduck-replica builds

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

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