Simulator
It is the same duck you get at home. Take the controls and see what it can do.
What the duck feels
The duck feels if it is tilting, where you tell it to go and where its legs are.
How the duck decides
It decides how to move each leg, 50 times a second. Nobody programmed its steps: it learned to walk by itself, falling and trying again.
Now teach yours.
If you reserved a duck you can teach it to walk a different way, then send that to the robot.
Train my duck