Auto-assembled, not yet reviewed

Poppy Humanoid

Open-source, mostly 3D-printed humanoid for research and education, driven by 25 Dynamixel actuators.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to poppy-project/poppy-humanoid: 2021-12-06 (GitHub, checked 2026-10-01).

Repository activity

Reproducibility80/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Poppy Humanoid open-source 25-DoF humanoid robot, 3D render from Poppy_Humanoid.URDF
main assembly 3D · Poppy_Humanoid.URDF

About Poppy Humanoid

Poppy Humanoid is an open-source, mostly 3D-printed humanoid robot from the Poppy project, designed for research and education. Its 25 Robotis Dynamixel actuators and modular printed structure make it reconfigurable for a wide range of experiments. CAD and URDF files, STL releases and assembly documentation are published; the full actuator list comes from the archived hardware BOM. A complete build is expensive (about $8000 to $9000, most of it actuators).

Licenses

Hardware
CC-BY-SA-4.0
Software
GPL-3.0
Docs
Not published

Degrees of freedom

25 DoF AX-12A 2MX-28AT 19MX-64AT 4

Breakdown source

Humanoidsource

How to build Poppy Humanoid

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Download CAD and STL

    Grab the latest SolidWorks, STL, STEP and parasolid files from the GitHub releases (Git LFS makes direct downloads empty).

    Upstream stepgithub.com/poppy-project/poppy-humanoid/blob/d66c8fbd6aa3ebb...

  2. Print the structure

    Print the parts in the STL archive (STL_3D_printed_parts.zip) from the GitHub releases. The archived upstream BOM lists most parts in white polished polyamide, some links in white polyamide, several head parts in black polyamide and the screen in transparent resin.

    Upstream stepgithub.com/poppy-project/poppy-humanoid/blob/2b6cd60404a4552...

  3. Source the actuators

    Buy the 25 Robotis Dynamixel actuators called out in the BOM, the largest single cost of the build.

    Upstream stepgithub.com/poppy-project/poppy-humanoid/blob/d66c8fbd6aa3ebb...

  4. Assemble the robot

    Follow the assembly guide (now in the poppy-docs GitHub repo); upstream says a complete build takes about 7 hours for a handy builder.

    Motari summarygithub.com/poppy-project/poppy-docs/tree/master/en/assembly-...

  5. Install software

    Flash the Poppy Raspberry Pi image or run pip install poppy-humanoid to drive the motors with pypot.

    Motari summarygithub.com/poppy-project/poppy-docs/tree/master/en/assembly-...
Print timenot published
Assembly time7 h

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

Poppy Humanoid bill of materials

11 rows

Cost to build

$8,500USDestimate
  • upstream build estimate of 8,000 to 9,000 USD, mostly actuators$8,500estimate

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

Poppy Humanoid parts, as the source lists them. Prices are the source's, not checked against vendors.

Poppy Humanoid bill of materials
PartQtySpecSourceConfidence
3D printed body part setPrinted structural shell and limb set for the humanoid body.
1Lower limbs, torso, upper limbs, and head printed parts; current docs point to release STL files.
3D print yourself / source releasesprice not listedArchived hardware BOM lines 7-46; current docs lines 97-102
high
Robotis Dynamixel MX-28AT actuators
19Dynamixel MX-28AT smart servos; current docs list MX28/MX28-T sections for legs and torso.
Robotisprice not listedArchived hardware BOM line 81; current docs lines 21-23 and 49-52
high
Robotis Dynamixel MX-64AT actuators
4Dynamixel MX-64AT smart servos; current docs list MX64/MX64-T sections for legs and torso.
Robotisprice not listedArchived hardware BOM line 82; current docs lines 21-23 and 49-52
high
Robotis Dynamixel AX-12A actuators
2Dynamixel AX-12A smart servos; current docs allow AX-12/AX-18 options for torso/head sections.
Robotisprice not listedArchived hardware BOM line 83; current docs lines 49-52 and 78-80
high
Robotis horn and frame sets
1HN07-N101, HN07-I101, HN05-N102, and HN05-I101 horn/frame sets.
Robotisprice not listedArchived hardware BOM lines 85-89; current docs lines 25-31 and 54-59
high
Robotis fastener kit
1M2/M2.5 wrench bolts, BIOLOID bolt/nut set, and M2/M2.5 nuts.
Robotis / hardware supplierprice not listedArchived hardware BOM lines 91-98
high
Dynamixel cable and connector setPower supplies and setup adapters are listed separately to avoid double-counting.
1BIOLOID 3P extension boards, Robotis 3P/4P cables, and custom Dynamixel cables.
Robotis / customprice not listedArchived hardware BOM lines 104-114
high
Embedded controller and storageThe archived pre-release BOM used Odroid U3/eMMC; the current user-facing docs now point builders to Raspberry Pi.
1Current README supports Raspberry Pi 3 or 4 with the Poppy system image; current docs option A lists Raspberry Pi 3 plus SD card.
Raspberry Pi / source docsprice not listedREADME lines 42-48; current docs lines 82-84
med
Head audio electronics
1Two speakers and one audio amp for the option A head assembly.
see the project's docsprice not listedCurrent docs lines 81-84; archived hardware BOM lines 62-64
med
Power supplies and USB2AX setup adapters
112V power supplies, SMPS2Dynamixel adapters, and USB2AX adapters for motor setup/configuration.
source docs / Robotisprice not listedCurrent docs lines 33-36 and 62-64; archived hardware BOM lines 100-103
high
Assembly tools
1External computer, crosshead/Torx screwdrivers, tweezers, hot glue, Allen keys, and threadlock.
shop suppliesprice not listedCurrent docs lines 90-95; archived hardware BOM lines 119-128
high

Rows from the source's own parts list 16

README.md@d66c8fbmarkdown

Source rowQtyPrice and vendorLine
Poppy Humanoid cost and actuator count
1 complete robot; 25 actuators
vendor not listed$8000-9000
L34
Poppy controller and adapter options
1 controller image setup
vendor not listedno price listed
L42

en/assembly-guides/poppy-humanoid/bom.md@1ab374fmarkdown

Source rowQtyPrice and vendorLine
Current Poppy docs BOM scope
vendor not listedno price listed
L1
Current docs leg actuator section
8 MX28-T; 3 MX64-T
Robotisno price listed
L21
Current docs leg motor configuration electronics
2 power supplies; 2 SMPS2Dynamixel; 2 USB2AX
vendor not listedno price listed
L33
Current docs torso actuator section
1 AX12/18; 5 MX28-T; 2 MX64-T
Robotisno price listed
L49
Current docs torso interface electronics
1 SMPS2Dynamixel; 1 power supply; 1 USB2AX
vendor not listedno price listed
L62
Current docs head option A electronics
2 speakers; 1 amp; 1 Raspberry Pi 3; 1 SD card
vendor not listedno price listed
L81
Current docs assembly tools
vendor not listedno price listed
L90
Current docs STL source files
vendor not listedno price listed
L97

hardware/doc/BOM.md@2b6cd60markdown

Source rowQtyPrice and vendorLine
Archived complete printed body part list
vendor not listedno price listed
L7
Archived complete 25-actuator split
19 MX-28AT; 4 MX-64AT; 2 AX-12A
Robotisno price listed
L80
Archived Robotis horn and frame sets
vendor not listedno price listed
L85
Archived fastener kit
vendor not listedno price listed
L91
Archived Dynamixel cable and connector set
vendor not listedno price listed
L104
Archived assembly tools
vendor not listedno price listed
L119

Poppy Humanoid source files

10 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

Poppy Humanoid in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from hardware/URDF/robots/Poppy_Humanoid.URDF at d66c8fb.

Builds of Poppy Humanoid

0 reviewed

No reviewed builds of Poppy Humanoid yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to poppy-project/poppy-humanoid: 2021-12-06 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: source README d66c8fb + BOM docs 1ab374f/2b6cd60.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain Poppy Humanoid? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 80/100

Markdown
[![Motari reproducibility score for Poppy Humanoid](https://motari.io/api/v1/badge/poppy-humanoid)](https://motari.io/r/poppy-humanoid)
HTML
<a href="https://motari.io/r/poppy-humanoid"><img src="https://motari.io/api/v1/badge/poppy-humanoid" alt="Motari reproducibility score for Poppy Humanoid" height="20"></a>

Not fully met yet: bom evidence (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed