How to build Poppy Humanoid
25-DoF humanoid robot · Advanced
Build Poppy Humanoid, the Poppy project's 3D-printed research and education humanoid with 25 Dynamixel MX servos and pypot software.
Many actuators, custom wiring and real tuning work.
Our estimate, part-time
$8,000–9,000 estimated by the project, mostly actuators
CC-BY-SA-4.0
What is Poppy Humanoid?
Poppy Humanoid comes from the Poppy project, started at Inria Bordeaux, as an open platform for research, education and art. Its body is mostly printed, and its 25 Robotis Dynamixel actuators sit in modular limbs you can rearrange.
The archived BOM lists 19 MX-28AT, 4 MX-64AT and 2 AX-12A servos. Those motors drive the cost: the project estimates $8,000–9,000 for a full build, most of it actuators.
CAD, URDF, STL releases and assembly docs are published. Python control goes through pypot.
Poppy Humanoid specifications
- DoF
- 25
- Actuators
- 19× MX-28AT, 4× MX-64AT, 2× AX-12A
- Structure
- 3D-printed
- Software
- pypot (Python)
- License
- CC BY-SA 4.0 hardware, GPL-3.0 software
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Dynamixel MX-28AT | 19 | |
| Dynamixel MX-64AT | 4 | |
| Dynamixel AX-12A | 2 | |
| Robotis horn and frame sets, fasteners | — | |
| Printed limbs, torso and head | — | |
| Embedded computer, camera and power | — | Per the archived BOM |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $8,500 as a ballpark from the project. Start at the project repository.
Tools you'll need
- Printer or print service
- Hex drivers
- Dynamixel tooling
Step-by-step build overview
Electronics & wiring overview
Dynamixel TTL chains run from the embedded computer to each limb.
Software
pypot and the Poppy creature libraries, with simulation support.
Tips from the bench
- ☕ Current Dynamixel models differ from the archived list; check compatibility before substituting.
Poppy Humanoid FAQ
How much does Poppy Humanoid cost?
The project estimates $8,000–9,000, mainly for the servos.
What is it used for?
Research, teaching and art projects.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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