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HumanoidPoppy Project (Inria Flowers)FR

Poppy Humanoid

Open-source 3D-printed 25-DOF humanoid (~83-85 cm, 3.5 kg) from Inria Bordeaux's Flowers lab for research, education and art.

orphanedKitL1 Compiledbuildable

Difficulty index

8.7/13
8.7
Index breakdown
Classhumanoid+5
Cost$9 BOM+0
DOF25 DOF+2.5
Parts143 parts+1.2
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

7 items
  • Poppy Humanoid studio render, three-quarter front view
    Studio render of the published URDF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from poppy-project/poppy-humanoid (CC-BY-SA-4.0) · Hyperspawn render · source
  • Poppy Humanoid studio render, side view
    Side view of the same URDF render, the model's zero pose.Rendered by Hyperspawn from poppy-project/poppy-humanoid (CC-BY-SA-4.0) · Hyperspawn render · source
  • 4 s turntable of the URDF studio render.Rendered by Hyperspawn from poppy-project/poppy-humanoid (CC-BY-SA-4.0) · Hyperspawn render · source
  • Poppy Humanoid 3D-printed robot standing, full body
    Via Wikimedia Commons (CC BY-SA 4.0).Inria / Poppy-project.org / Photo H. Raguet., via Wikimedia Commons · CC-BY-SA-4.0 · source
  • Poppy Humanoid 3D-printed robot sitting on stairs
    Via Wikimedia Commons (CC BY-SA 4.0).Inria / Poppy-project.org / Photo H. Raguet., via Wikimedia Commons · CC-BY-SA-4.0 · source
  • Poppy Humanoid Beta OverviewPoppy Project · official video, embedded · source
  • Poppy Humanoid first stepsPoppy Project · official video, embedded · source

Spec card

7/13 known
Degrees of freedom
25
Height
84 cm
Mass
3.5 kg
BOM total
$9 · 1/32 lines priced
Part count
143
Actuators
Dynamixel: 19 MX-28AT, 4 MX-64AT, 2 AX-12A
Compute
Raspberry Pi (current kit version)

Not in the registry: payload, speed, runtime, battery, price, sensors. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +SLS printing (usually a print service): 38 parts
  • +Resin (SLA) printing: 1 part
  • +Tools used: Computer running Linux, Windows or macOS, pip install poppy-humanoid, Allen keys 1.5 / 2 / 2.5 mm, Tweezers, Flat pliers, Hot glue gun, SD card writer (e.g. Etcher)
  • +22 assembly steps across 8 subassemblies
  • +Flashing firmware for Raspberry Pi 3/4 (Poppy Humanoid SD image, pypot + poppy-humanoid), Dynamixel MX-28AT / MX-64AT / AX-12A (stock Robotis firmware, configured at 1 Mbps)
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

90/100
  • publicCAD
  • publicBOM
  • publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 90/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Hardware license: CC-BY-SA-4.0. Software license: GPL-3.0.

Repos & models

URDF ↗
Buy

Build it

Has an ORP build package.
Build it on humanoidrobot.build ↗Files are public but the maker is gone; uncertified, some parts may need alternates.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NoteProject born 2012 in Inria Flowers lab (Lapeyre PhD); exact public-unveil year not pinned (paper 2014). Main repo last pushed Dec 2021; poppy-project.org failed DNS on fetch (Sep 2026). Lapeyre later co-founded Pollen Robotics. Height quoted as 83 or 85 cm. Actuator mix (19 MX-28AT, 4 MX-64AT, 2 AX-12A) is from the motor configuration file and the archived 1.0 BOM, which agree; the current guide's per-section counts omit the arms. README puts a full build at $8,000-9,000, about 60% of it for the Dynamixels. URDF is in hardware/URDF.

Sources

  1. [1]Poppy Humanoid motor configuration (motor models)checked 2026-09-25
  2. [2]Poppy Humanoid URDFchecked 2026-09-25
  3. [3]Generation Robots: Poppy Humanoid kits (EUR prices)checked 2026-09-25
  4. [4]Official repochecked 2026-09-24
  5. [5]Lapeyre et al. 2014 paperchecked 2026-09-24
  6. [6]New Atlaschecked 2026-09-24