Poppy Humanoid Robot, Professional Dynamixel Line

i started this robot searching for a more professional design compared to others i found so far. Sadly i found out now that the professional Dynamixel motors they use are priced at 300$ each. So only if you have the money for that (you need 24 of these motors) or are interested just to learn more about that robot, Poppy might be the project for you. 

In contrast to cheap MG996r motors the dynamixel are Smart actuators, featuring:

• Smart Daisy-Chaining: Link dozens of servos together in a single chain with just one wire back to the controller—no massive bundles of messy cables.
• Massive Torque: More than double the strength of an MG996R, which is critical for lifting a heavy humanoid frame.
• Pinpoint Precision: Replaces jittery hobby potentiometers with contactless magnetic encoders, offering ultra-exact 0.088° accuracy.
• Real-Time Feedback: Constantly tracks and reports its own position, speed, internal temperature, and current load to prevent overheating.
• Flexible Compliance: You can program the joints to be "slack" or springy, allowing for natural movements and protecting 3D-printed parts from snapping.

This allowes this robot to move very stable, smooth and allowes to programm feedback corrected movements. They actually used this robot to play in a musical they made:
https://vimeo.com/149653064/aa288e36be?fl=pl&fe=vl 

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Assembly / Electronics

You find all parts sorted by body part in the right quantity in the .mf3 file.

The hole assembly guide is to detailed to fit here, so i share you the link for the very nice assamble guide (english):
https://docs.poppy-project.org/en/assembly-guides/poppy-humanoid/

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Code

The code is even more detailed. You can find a huge code base online, where the programming is explained and done in python, Scratch or Snap. Introducing many professional APIs, Tools and Design patterns.
https://docs.poppy-project.org/en/programming/

https://github.com/poppy-project/poppy-humanoid/tree/master/software

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Source

https://docs.poppy-project.org/en/

https://github.com/poppy-project/poppy-humanoid/tree/master/software