Sumber terbuka Humanoid
Humanoid Poppy
Salah satu humanoid sumber terbuka cetak 3D sepenuhnya yang pertama, dimulakan pada 2013 oleh pasukan Inria's Flowers: 83 sm, 25 DoF dengan tulang belakang 5-DoF bio-inspirasi, untuk pendidikan, penyelidikan dan seni.
- Jenis
- Humanoid
- DoF
- 25 (termasuk tulang belakang 5-DoF)
- Tinggi
- 83 cm
- Berat
- 3.5 kg
- Kos pembinaan
- ≈ AS$8,000–9,000
- Struktur
- cetakan nilon SLS
- Buka perkakasan dan buka kod
- Bil bahan penuh dengan pautan pembekal
- Pautan terus ke CAD, kod dan kertas asal
01 — Detail proyek
Ikhtisar, BOM, dan sumber daya
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 ↗
Sumber: Imej dan data: Projek Poppy / Inria Flowers (tapak web, GitHub, panduan pemasangan dan kertas kerja). Perkakasan CC BY-SA 4.0, perisian GPL v3; “Poppy” ialah tanda dagangan berdaftar. Laman web ini tidak bergabung dengan projek asal.
Dapatkan alat ganti
Di mana untuk mendapatkan bahagian
Setiap baris dalam BOM memautkan kepada pembekal yang digunakan oleh pasukan asal. Perlukan bantuan mendapatkan bahagian atau mencetak struktur 3D? Beritahu kami robot yang anda sedang bina.
02 — Robot terkait
