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🇫🇷Inria (Poppy Project)·France·Prototype

Poppy Humanoid

法国国家信息与自动化研究所（Inria）

The open-source, 3D-printed humanoid that brought full-body robotics into classrooms and labs.

PrototypeVerified Last verified 31 Oct 2026
Official site Suggest a correction
Height84 cm
Degrees of freedom25
Arm payload—
Top speed—
Battery life—
Starting pricePrice on request
MakerInria (Poppy Project)
First shown2012
StatusPrototype
Form factorCompact
LocomotionBipedal
Updated31 Oct 2026
EducationResearchOpen SDK3D printed25 DOF3 kgDynamixel servosPython/pypot

What it is

Poppy Humanoid is an open-source, 3D-printed humanoid created in 2012 by Inria's Flowers team with ENSTA ParisTech and the Cité des Sciences, designed as a low-cost platform for education and research. It stands 84 cm, weighs about 3 kg and has 25 degrees of freedom driven by RobotIS Dynamixel servos, programmed in Python through the pypot library. The design files, electronics and software were released openly and assembled kits were sold by resellers, while the smaller Poppy Torso variant targeted desktop use. The project is no longer actively developed, but Poppy remains a widely cited reference platform for open humanoid hardware.

Highlights

01Open-source hardware, software and 3D-printable structure.
0284 cm, about 3 kg, 25 DOF.
03RobotIS Dynamixel servos controlled through Python and pypot.
04Created by Inria with ENSTA ParisTech and the Cité des Sciences.
05Poppy Torso variant for desktop research and education.

The numbers

Body
Height84 cm
Weight3 kg
Form factorCompact
Motion & power
LocomotionBipedal
Degrees of freedom25
DOF breakdown25 DOF: six per leg, five per arm, two for the head and one for the torso.
ActuatorsRobotIS Dynamixel MX-series digital servos.
Compute, sensing & hands
ComputeRaspberry Pi single-board computer plus a host PC running the pypot control stack.
SensingJoint position feedback from the servos and an IMU; cameras and depth sensors can be added through the open expansion ports.
Hands3D-printed simple hands/grippers.

Platform & deployment

AvailabilityOpen-source plans remain downloadable; assembled kits are no longer actively sold and the project is community-maintained.
Target marketEducation, academic research and open-source robotics communities.
SDKpypot Python library; ROS bindings (poppy_ros).
Software / OSpypot control library, Poppy documentation and simulation models for V-REP/Gazebo.
Deployments & partnersSchools, universities and maker labs, mainly in France and Europe.
VariantsPoppy Humanoid · Poppy Torso

Evidence trail

Claims on this profile are linked to primary reporting and manufacturer material where available.

01Inria activity report 2013 - Flowers team, Poppy platform (84 cm, 3 kg)02Poppy Project - GitHub organisation03Poppy Humanoid - GitHub README (25 Dynamixel actuators)

Specifications are sourced from public materials and may change. Always confirm commercial terms with the manufacturer.

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