Open source Humanoids
Poppy Humanoid
One of the first fully 3D-printed open-source humanoids, started in 2013 by Inria’s Flowers team: 83 cm, 25 DoF with a 5-DoF bio-inspired spine, for education, research and art.
- Type
- Humanoid
- DoF
- 25 (incl. 5-DoF spine)
- Height
- 83 cm
- Weight
- 3.5 kg
- Build cost
- ≈ US$8,000–9,000
- Structure
- SLS nylon prints
- Open hardware and open code
- Full bill of materials with supplier links
- Direct links to the original CAD, code and papers
01 — Project details
Overview, BOM and resources
Overview
Poppy Humanoid is one of the earliest complete 3D-printed open-source humanoids. Its signature is a 5-motor bio-inspired spine and human-like hips with thighs angled 6° inward, giving it a more natural gait.
It uses ROBOTIS Dynamixel servos and the Python library pypot; an experienced builder assembles it in about 7 hours.
Key specifications
| Actuators | 19 × MX-28AT, 4 × MX-64AT, 2 × AX-12A (ROBOTIS Dynamixel) |
|---|---|
| Computer | Raspberry Pi 3/4 (early builds: Odroid U3 / XU4) |
| Sensors | Wide-angle HD camera; optional 9-DoF IMU and 4.5" screen |
| Cost | About 60% goes to the 25 Dynamixels |
Bill of materials
The official BOM lists parts and quantities only; a full build is about US$8,000–9,000, roughly 60% of it servos.
| Part | Model / spec | Qty | Link |
|---|---|---|---|
| 3D printing | |||
| leg | 2 | ||
| thigh_right | 1 | ||
| thigh_left | 1 | ||
| hip_right | 1 | ||
| hip_left | 1 | ||
| pelvis | 1 | ||
| simple_foot_left | 1 | ||
| simple_foot_right | 1 | ||
| hip_z_to_hip_y-connector | 2 | ||
| double_rotation_MX64_link | 2 | ||
| i101-Set_to_MX64_link | 1 | ||
| abdomen | 1 | ||
| spine | 1 | ||
| double_rotation_MX28_link | 2 | ||
| i101-Set_to_MX28_link | 1 | ||
| chest | 1 | ||
| shoulder_right | 1 | ||
| shoulder_left | 1 | ||
| arm_connector | 2 | ||
| upper_arm | 2 | ||
| forearm_left | 1 | ||
| forearm_right | 1 | ||
| hand_right | 1 | ||
| hand_left | 1 | ||
| neck | 1 | ||
| head-back | 1 | ||
| head-face | 1 | ||
| support_camera | 1 | ||
| screen | 1 | ||
| hide-screen | 1 | ||
| speaker_left | 1 | ||
| speaker_right | 1 | ||
| fake_manga_screen | 1 | ||
| Electronics | |||
| USB2AX | 2 | ||
| Hardkernel Odroid U3 | |||
| 8GB eMMC Module U Linux | |||
| Cooling Fan U3 (Optionnal) | |||
| USB hub: here ou [here][8] | |||
| DC Plug Cable Assembly 2.5mm | |||
| 5V DC convertor | adafruit.com ↗ | ||
| speakers | 2 | ||
| ampli stereo | adafruit.com ↗ | ||
| Nano Wifi Dongle | amazon.fr ↗ | ||
| 2.0 Megapixels "Videw" Camera with OV2643 CMOS sensor equipied with FOV 120° or 170°!! + USB cable | alibaba.com ↗ | ||
| Sparkfun Razor 9DoF IMU (Optionnal) | |||
| Manga Screen (Optionnal) | kickstarter.com ↗ | ||
| Robotis | |||
| MX-28AT | 19 | ||
| MX-64AT | 4 | ||
| AX-12A | 2 | ||
| HN07-N101 set | 19 | ||
| HN07-i101 Set | 12 | ||
| HN05-N102 Set | 4 | ||
| HN05-i101 Set | 4 | ||
| Wrench Bolt M23 (200 pcs) | 1 | ||
| Wrench Bolt M2.54 (200 pcs) | 1 | ||
| Wrench Bolt M2.56 (200 pcs) | 1 | ||
| Wrench Bolt M2.58 (200 pcs) | 1 | ||
| BIOLOID Bolt Nut Set BNS-10 | 1 | ||
| Nut M2.5 (400 pcs) | 1 | ||
| N1 Nut M2 (400 pcs) | 1 | ||
| SMPS2Dynamixel | 3 | ||
| SMPS 12V 5A PS-10 | 1 | ||
| BIOLOID 3P Extension PCB | 3 | ||
| Robot Cable-3P 60mm 10pcs | 1 | ||
| Robot Cable-3P 100mm 10pcs | 1 | ||
| Robot Cable-3P 140mm 10pcs | 1 | ||
| Robot Cable-3P 200mm 10pcs | 1 | ||
| cable-3P 22cm | 3 | ||
| cable-3P 25cm | 3 | ||
| cable-3P 50cm | 2 | ||
| Cable-4P 200mm avec fils D+/D- coupés | 2 | ||
| Head option A (current docs) | |||
| Raspberry Pi 3 + SD card | 1 | ||
3D printing & fabrication
- Official parts are white polished polyamide (SLS nylon) with a clear resin screen — ideal for an online 3D-printing service.
- No FDM settings are published; on a desktop printer, use thicker walls and more infill for strength.
- STL, STEP and SolidWorks files are on the GitHub releases page.
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Poppy project on GitHub ↗github.com
- GitHub ↗github.com
- CAD & STL releases ↗github.com
- Assembly guide ↗github.com
- Control library pypot ↗github.com
- Paper (2013) ↗flowers.inria.fr
- Paper (Humanoids 2014) ↗flowers.inria.fr
License
Hardware CC BY-SA 4.0; software GPL v3.
Image credits
- Image 1: Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — source ↗
- Image 2: Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — source ↗
- Image 3: Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — source ↗
- Image 4: Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — source ↗
- Image 5: Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — source ↗
- Image 6: Poppy Project / Inria Flowers · CC BY-SA 4.0 — source ↗
- Image 7: Poppy Project / Inria Flowers · CC BY-SA 4.0 — source ↗
Source: Images and data: Poppy Project / Inria Flowers (website, GitHub, assembly guide and papers). Hardware CC BY-SA 4.0, software GPL v3; “Poppy” is a registered trademark. This site is not affiliated with the original project.
Show original text (中文)
项目概况
Poppy Humanoid 是最早的完整 3D 打印开源人形机器人之一。它的特色是由 5 个电机组成的仿生脊柱，以及大腿 6° 内倾的仿人髋部，让它走路更像人。
舵机采用 ROBOTIS Dynamixel，软件基于 Python 库 pypot，熟手约 7 小时可以装完。
关键参数
| 执行器 | 19 × MX-28AT、4 × MX-64AT、2 × AX-12A（ROBOTIS Dynamixel） |
|---|---|
| 主控 | Raspberry Pi 3/4（早期为 Odroid U3 / XU4） |
| 传感器 | 广角 HD 摄像头，可选 9 轴 IMU 和 4.5 寸屏 |
| 成本 | 约 60% 花在 25 个 Dynamixel 上 |
物料清单 BOM
官方 BOM 只有零件和数量，没有单价；整机约 8,000–9,000 美元，其中约 60% 是舵机。
| 零件 | 型号 / 规格 | 数量 | 链接 |
|---|---|---|---|
| 3D printing | |||
| leg | 2 | ||
| thigh_right | 1 | ||
| thigh_left | 1 | ||
| hip_right | 1 | ||
| hip_left | 1 | ||
| pelvis | 1 | ||
| simple_foot_left | 1 | ||
| simple_foot_right | 1 | ||
| hip_z_to_hip_y-connector | 2 | ||
| double_rotation_MX64_link | 2 | ||
| i101-Set_to_MX64_link | 1 | ||
| abdomen | 1 | ||
| spine | 1 | ||
| double_rotation_MX28_link | 2 | ||
| i101-Set_to_MX28_link | 1 | ||
| chest | 1 | ||
| shoulder_right | 1 | ||
| shoulder_left | 1 | ||
| arm_connector | 2 | ||
| upper_arm | 2 | ||
| forearm_left | 1 | ||
| forearm_right | 1 | ||
| hand_right | 1 | ||
| hand_left | 1 | ||
| neck | 1 | ||
| head-back | 1 | ||
| head-face | 1 | ||
| support_camera | 1 | ||
| screen | 1 | ||
| hide-screen | 1 | ||
| speaker_left | 1 | ||
| speaker_right | 1 | ||
| fake_manga_screen | 1 | ||
| Electronics | |||
| USB2AX | 2 | ||
| Hardkernel Odroid U3 | |||
| 8GB eMMC Module U Linux | |||
| Cooling Fan U3 (Optionnal) | |||
| USB hub: here ou [here][8] | |||
| DC Plug Cable Assembly 2.5mm | |||
| 5V DC convertor | adafruit.com ↗ | ||
| speakers | 2 | ||
| ampli stereo | adafruit.com ↗ | ||
| Nano Wifi Dongle | amazon.fr ↗ | ||
| 2.0 Megapixels "Videw" Camera with OV2643 CMOS sensor equipied with FOV 120° or 170°!! + USB cable | alibaba.com ↗ | ||
| Sparkfun Razor 9DoF IMU (Optionnal) | |||
| Manga Screen (Optionnal) | kickstarter.com ↗ | ||
| Robotis | |||
| MX-28AT | 19 | ||
| MX-64AT | 4 | ||
| AX-12A | 2 | ||
| HN07-N101 set | 19 | ||
| HN07-i101 Set | 12 | ||
| HN05-N102 Set | 4 | ||
| HN05-i101 Set | 4 | ||
| Wrench Bolt M23 (200 pcs) | 1 | ||
| Wrench Bolt M2.54 (200 pcs) | 1 | ||
| Wrench Bolt M2.56 (200 pcs) | 1 | ||
| Wrench Bolt M2.58 (200 pcs) | 1 | ||
| BIOLOID Bolt Nut Set BNS-10 | 1 | ||
| Nut M2.5 (400 pcs) | 1 | ||
| N1 Nut M2 (400 pcs) | 1 | ||
| SMPS2Dynamixel | 3 | ||
| SMPS 12V 5A PS-10 | 1 | ||
| BIOLOID 3P Extension PCB | 3 | ||
| Robot Cable-3P 60mm 10pcs | 1 | ||
| Robot Cable-3P 100mm 10pcs | 1 | ||
| Robot Cable-3P 140mm 10pcs | 1 | ||
| Robot Cable-3P 200mm 10pcs | 1 | ||
| cable-3P 22cm | 3 | ||
| cable-3P 25cm | 3 | ||
| cable-3P 50cm | 2 | ||
| Cable-4P 200mm avec fils D+/D- coupés | 2 | ||
| Head option A (当前文档) | |||
| Raspberry Pi 3 + SD card | 1 | ||
3D 打印与制造
- 官方零件用白色抛光聚酰胺（SLS 尼龙），屏幕为透明树脂；可以交给在线 3D 打印服务制造。
- 官方没有给 FDM 参数；用桌面打印机时建议提高壁厚和填充来补强度。
- STL / STEP / SolidWorks 文件在 GitHub 发布页。
图纸、程序与论文
大文件（CAD、STL、STEP、代码仓库）请直接从原项目获取：
- Poppy 项目 GitHub ↗github.com
- GitHub 仓库 ↗github.com
- 图纸与 STL 发布页 ↗github.com
- 装配指南 ↗github.com
- 控制库 pypot ↗github.com
- 论文（2013） ↗flowers.inria.fr
- 论文（Humanoids 2014） ↗flowers.inria.fr
开源协议
硬件 CC BY-SA 4.0；软件 GPL v3。
图片来源与授权
- 图 1：Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — 来源 ↗
- 图 2：Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — 来源 ↗
- 图 3：Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — 来源 ↗
- 图 4：Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — 来源 ↗
- 图 5：Inria / Poppy-project.org / Photo H. Raguet. · CC BY-SA 4.0 — 来源 ↗
- 图 6：Poppy Project / Inria Flowers · CC BY-SA 4.0 — 来源 ↗
- 图 7：Poppy Project / Inria Flowers · CC BY-SA 4.0 — 来源 ↗
Get the parts
Where to get the parts
Every line in the BOM links to the supplier the original team used. Need help sourcing parts or 3D-printing the structure? Tell us which robot you are building.
02 — Related robots
