Build Poppy Humanoid

Steps

22

Subassemblies

8

Hands-on time (sum)

—

Critical path

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Your progress · this device

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22 steps have no time estimate; times above are lower bounds.

1. Fabrication
   01

   Print the 33 STL files (39 parts)

   Download STL_3D_printed_parts.zip from the 1.0.2 release (folders arms/, head/, legs/, trunk/). The reference parts are SLS polyamide, and the transparent screen is resin. Print 2x shin, 2x hip connector, 2x MX-28 and 2x MX-64 double-rotation links, 2x arm connector and 2x upper arm; every other file is printed once. Don't clone the repo without git-lfs, because the CAD files come down as empty pointers.

   CHECK39 parts on the bench, split legs 11 / trunk 9 / arms 10 / head 9. On each part, the three alignment dots next to the motor axes are visible.

   Parts in

   • pelvisprinted.legs.pelvis
   • hip_leftprinted.legs.hip-left
   • hip_rightprinted.legs.hip-right
   • hip_z_to_hip_y-connectorprinted.legs.hip-connector
   • thigh_leftprinted.legs.thigh-left
   • thigh_rightprinted.legs.thigh-right
   • shin (symmetric, 'leg' in the BOM)printed.legs.shin
   • simple_foot_leftprinted.legs.foot-left
   • simple_foot_rightprinted.legs.foot-right
   • abdomenprinted.trunk.abdomen
   • MX64_double_rotation_linkprinted.trunk.mx64-link
   • i101_to_MX64_linkprinted.trunk.i101-mx64-link
   • spineprinted.trunk.spine
   • MX28_double_rotation_linkprinted.trunk.mx28-link
   • i101_to_MX28_linkprinted.trunk.i101-mx28-link
   • chestprinted.trunk.chest
   • shoulder_leftprinted.arms.shoulder-left
   • shoulder_rightprinted.arms.shoulder-right
   • arm_connectorprinted.arms.arm-connector
   • upper_arm (same part both sides)printed.arms.upper-arm
   • forearm_leftprinted.arms.forearm-left
   • forearm_rightprinted.arms.forearm-right
   • hand_leftprinted.arms.hand-left
   • hand_rightprinted.arms.hand-right
   • neck (U-shaped)printed.head.neck
   • head_backprinted.head.back
   • head_faceprinted.head.face
   • camera_supportprinted.head.camera-support
   • screen (transparent cover)printed.head.screen
   • screen_supportprinted.head.screen-support
   • fake_manga_screen (replaces the discontinued Manga Screen)printed.head.fake-manga-screen
   • speaker_left supportprinted.head.speaker-left
   • speaker_right supportprinted.head.speaker-right

   Tools

   —

   Torque

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   Time

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   After

   Start

   Source

   github.com

2. Preparation
   02

   Build the single-motor configuration rig and install Poppy Configure

   Safety · human-verified required

   Wire USB2AX to SMPS2Dynamixel to one motor with two 3P cables, then plug the 12 V supply into the SMPS. On Linux, add your user to the dialout (or uucp) group and log in again. Configure each motor right before you mount it, with `poppy-configure humanoid <motor-name>`. This sets the ID from the naming convention, 1,000,000 bps and a 0 return delay. Herborist and Dynamixel Wizard do the same job.

   CHECK`poppy-configure humanoid bust_x` on a new motor (ID 1, 57600 bps) finishes without error, and a scan then finds the motor at ID 35 and 1 Mbps.

   This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

   Parts in

   • Xevelabs USB2AX USB-to-Dynamixel TTL adapter (one per bus)electronics.usb2ax
   • Robotis SMPS2Dynamixel power injector (one per bus + spare/config rig)electronics.smps2dynamixel
   • 12 V wall power supply for the Dynamixel buses (Robotis SMPS 12V 5A PS-10 in the archived BOM)power.psu-12v
   • Robotis Robot Cable-3P 200 mm, pack of 10cable.3p-200

   Tools

   Computer running Linux, Windows or macOS, pip install poppy-humanoid

   Torque

   —

   Time

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   After

   Start

   Source

   github.com

3. 03

   Horn mounting rules (applies to every motor)

   Mount each horn when its motor is needed, not all at once. MX-28 active horns are press-fit and can't be removed without damaging the motor, so align the horn marking with the axis before pressing. Then fix it with the long centre screw and a dip (not a drop) of thread locker. Match the three dots on the horn with the three dots on the printed part. Free horns only need to spin freely.

   CHECKAfter `poppy-configure` sends the motor to 0°, the single dot on the active horn points straight up, and each free horn spins freely by hand.

   Parts in

   • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
   • Robotis HN07-I101 set (MX-28 idler/free horn with bearing)structure.horn.hn07-i101
   • Robotis HN05-N102 set (MX-64 active horn)structure.horn.hn05-n102
   • Robotis HN05-I101 set (MX-64 idler/free horn)structure.horn.hn05-i101
   • Wrench bolt M2.5x8, pack of 200 (MX-28 horn centre screw)fastener.m2_5x8
   • Thread locker (a dip on the screw tip only)other.threadlocker

   Tools

   Allen keys 1.5 / 2 / 2.5 mm, Tweezers, Flat pliers

   Torque

   —

   Time

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   After

   02

   Source

   github.com

4. Bring-up
   04

   Simulation: V-REP/CoppeliaSim scene and URDF

   The poppy-humanoid package ships a V-REP scene (vrep-scene/poppy_humanoid.ttt). `PoppyHumanoid(simulator='vrep')` drives it through pypot. A URDF with meshes and ROS display/Gazebo launch files is in hardware/URDF. The sample notebook 'Controlling a Poppy humanoid in V-REP using pypot' walks through it.

   CHECKWith the scene open in V-REP, the notebook connects and `poppy.motors` lists 25 motors that move in the simulator.

   Parts in

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   Tools

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   Torque

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   Time

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   After

   01

   Source

   github.com

5. Arms
   05

   Right arm: r_shoulder_x (52), r_arm_z (53), r_elbow_y (54)

   Join the hand to the forearm (4 M2 nuts, 4 S1 bolts). Put nuts in r_elbow_y, run a 140 mm cable into the upper arm and fix the motor with 18 M2.5 bolts. Add r_arm_z on top, then the arm connector and forearm with 22 M2x3 bolts. Finally fix r_shoulder_x to the arm connector with 8 M2.5 bolts and link it with the 200 mm cable. Videos 1-4 of the assembly playlist.

   CHECKAll three motors are chained and the parts per arm are used up (22 M2x3, 26 M2.5x6, 13 M2.5 nuts). Rotating each joint by hand shows no rubbing and no cable pinch.

   Parts in

   • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
   • hand_rightprinted.arms.hand-right
   • forearm_rightprinted.arms.forearm-right
   • upper_arm (same part both sides)printed.arms.upper-arm
   • arm_connectorprinted.arms.arm-connector
   • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
   • Robotis HN07-I101 set (MX-28 idler/free horn with bearing)structure.horn.hn07-i101
   • Wrench bolt M2x3, pack of 200 (horn screws, arm/shoulder/spine fixing)fastener.m2x3
   • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6
   • Nut M2.5, pack of 400fastener.nut-m2_5
   • Robotis N1 nut M2, pack of 400fastener.nut-m2
   • Robotis BIOLOID Bolt-Nut Set BNS-10 (S1, S2, S-B bolts for AX-12 head; M2x6 for pelvis)fastener.bns10
   • Robotis Robot Cable-3P 140 mm, pack of 10cable.3p-140
   • Robotis Robot Cable-3P 200 mm, pack of 10cable.3p-200

   Tools

   —

   Torque

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   Time

   —

   After

   01, 03

   Source

   github.com

6. 06

   Left arm: l_shoulder_x (42), l_arm_z (43), l_elbow_y (44)

   Mirror of the right arm with IDs 42/43/44 (videos 5-8). The guide text still says `r_elbow_y` in the first line of the left-arm steps; that is a typo, the motor is l_elbow_y.

   CHECKA scan on the arm's cable finds exactly IDs 42, 43, 44, and all hardware counts match the arm BOM.

   Parts in

   • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
   • hand_leftprinted.arms.hand-left
   • forearm_leftprinted.arms.forearm-left
   • upper_arm (same part both sides)printed.arms.upper-arm
   • arm_connectorprinted.arms.arm-connector
   • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
   • Robotis HN07-I101 set (MX-28 idler/free horn with bearing)structure.horn.hn07-i101
   • Wrench bolt M2x3, pack of 200 (horn screws, arm/shoulder/spine fixing)fastener.m2x3
   • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6
   • Nut M2.5, pack of 400fastener.nut-m2_5
   • Robotis N1 nut M2, pack of 400fastener.nut-m2
   • Robotis BIOLOID Bolt-Nut Set BNS-10 (S1, S2, S-B bolts for AX-12 head; M2x6 for pelvis)fastener.bns10
   • Robotis Robot Cable-3P 140 mm, pack of 10cable.3p-140
   • Robotis Robot Cable-3P 200 mm, pack of 10cable.3p-200

   Tools

   —

   Torque

   —

   Time

   —

   After

   01, 03

   Source

   github.com

7. Torso
   07

   Chest: head_z (36, AX-12A), l_shoulder_y (41), r_shoulder_y (51)

   Fit 10 M2 nuts under the AX-12A and bolt it on top of the chest with a 100 mm cable routed through the gap. Slide both shoulder_y MX-28ATs into their slots (8 M2.5 bolts each) and link them with a 140 mm cable. Plug the three cables into the 3P PCB hub and hot-glue the hub behind the chest above the Poppy logo.

   CHECKThe hub carries three cables, and a scan through it finds IDs 36, 41 and 51.

   Parts in

   • chestprinted.trunk.chest
   • Robotis Dynamixel AX-12A (head_z, head_y)actuator.ax12a
   • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
   • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
   • Robotis BIOLOID 3P Extension PCB (Dynamixel hub)electronics.3p-hub
   • Robotis Robot Cable-3P 100 mm, pack of 10cable.3p-100
   • Robotis Robot Cable-3P 140 mm, pack of 10cable.3p-140
   • Robotis N1 nut M2, pack of 400fastener.nut-m2
   • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6

   Tools

   Hot glue gun

   Torque

   —

   Time

   —

   After

   01, 03

   Source

   github.com

8. 08

   Double MX-28 (bust): bust_y (34), bust_x (35)

   Put a spare HN07-I101 on the i101-Set_to_MX28_link. Fix the two double_rotation_MX28_links to bust_x, link both motors with the 60 mm cable, and join them at 90° with 4 M2.5 bolts.

   CHECKThe two motor axes are at 90°, both motors answer (IDs 34, 35), and the idler turns freely.

   Parts in

   • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
   • MX28_double_rotation_linkprinted.trunk.mx28-link
   • i101_to_MX28_linkprinted.trunk.i101-mx28-link
   • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
   • Robotis HN07-I101 set (MX-28 idler/free horn with bearing)structure.horn.hn07-i101
   • Robotis Robot Cable-3P 60 mm, pack of 10cable.3p-60
   • Nut M2.5, pack of 400fastener.nut-m2_5
   • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6

   Tools

   —

   Torque

   —

   Time

   —

   After

   01, 03

   Source

   github.com

9. 09

   Double MX-64 (abs): abs_y (31), abs_x (32)

   There are no written instructions for this step, only a video (playlist #9). Parts: 2 HN05-N102, 2 HN05-I101, 13 M2.5 nuts, 12 M2.5x6, 1 M2.5x8, 100 mm cable.

   CHECKThe two MX-64 axes are at 90° and both answer (IDs 31, 32).

   Parts in

   • Robotis Dynamixel MX-64AT (abs_x, abs_y, l/r_hip_y)actuator.mx64at
   • MX64_double_rotation_linkprinted.trunk.mx64-link
   • i101_to_MX64_linkprinted.trunk.i101-mx64-link
   • Robotis HN05-N102 set (MX-64 active horn)structure.horn.hn05-n102
   • Robotis HN05-I101 set (MX-64 idler/free horn)structure.horn.hn05-i101
   • Robotis Robot Cable-3P 100 mm, pack of 10cable.3p-100
   • Nut M2.5, pack of 400fastener.nut-m2_5
   • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6
   • Wrench bolt M2.5x8, pack of 200 (MX-28 horn centre screw)fastener.m2_5x8

   Tools

   —

   Torque

   —

   Time

   —

   After

   01, 03

   Source

   github.com

10. Legs
    10

    Pelvis: l_hip_x (11), r_hip_x (21)

    Follow the Poppy-lightweight-biped-legs pelvis instructions and video. Use the M2x6 screws from the BNS-10 set where the instructions show M2x5.

    CHECKBoth hip_x motors answer (IDs 11, 21) and the pelvis sits flat with both horns aligned on their dots.

    Parts in

    • pelvisprinted.legs.pelvis
    • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
    • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
    • Robotis HN07-I101 set (MX-28 idler/free horn with bearing)structure.horn.hn07-i101
    • Robotis BIOLOID Bolt-Nut Set BNS-10 (S1, S2, S-B bolts for AX-12 head; M2x6 for pelvis)fastener.bns10

    Tools

    —

    Torque

    —

    Time

    —

    After

    01, 03

    Source

    github.com

11. 11

    Left leg: l_hip_z (12), l_hip_y (13, MX-64AT), l_knee_y (14), l_ankle_y (15)

    Assemble the hip, thigh and shin sub-assemblies, then the full leg, following the biped-legs sub-guides and their videos. The hip alone uses 12 M2.5 nuts, 12 M2.5x6 and 8 M2x3. Generation Robots kits include 220 mm cables to use in place of the short 200 mm ones.

    CHECKThe leg chain answers IDs 12-15, and the knee folds from straight to fully bent by hand without the cable pulling.

    Parts in

    • hip_leftprinted.legs.hip-left
    • hip_z_to_hip_y-connectorprinted.legs.hip-connector
    • thigh_leftprinted.legs.thigh-left
    • shin (symmetric, 'leg' in the BOM)printed.legs.shin
    • simple_foot_leftprinted.legs.foot-left
    • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
    • Robotis Dynamixel MX-64AT (abs_x, abs_y, l/r_hip_y)actuator.mx64at
    • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
    • Robotis HN07-I101 set (MX-28 idler/free horn with bearing)structure.horn.hn07-i101
    • Robotis HN05-N102 set (MX-64 active horn)structure.horn.hn05-n102
    • Robotis HN05-I101 set (MX-64 idler/free horn)structure.horn.hn05-i101
    • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6
    • Wrench bolt M2x3, pack of 200 (horn screws, arm/shoulder/spine fixing)fastener.m2x3
    • Nut M2.5, pack of 400fastener.nut-m2_5
    • Robotis Robot Cable-3P 100 mm, pack of 10cable.3p-100
    • Custom 3P Dynamixel cables: 3x 220 mm, 3x 250 mm, 2x 500 mmcable.3p-custom

    Tools

    —

    Torque

    —

    Time

    —

    After

    01, 03

    Source

    github.com

12. 12

    Right leg: r_hip_z (22), r_hip_y (23, MX-64AT), r_knee_y (24), r_ankle_y (25)

    Mirror of the left leg, following the right hip, thigh, shin and leg sub-guides in Poppy-lightweight-biped-legs.

    CHECKThe leg chain answers IDs 22-25 and the foot sole is parallel to the pelvis plate at the 0° pose.

    Parts in

    • hip_rightprinted.legs.hip-right
    • hip_z_to_hip_y-connectorprinted.legs.hip-connector
    • thigh_rightprinted.legs.thigh-right
    • shin (symmetric, 'leg' in the BOM)printed.legs.shin
    • simple_foot_rightprinted.legs.foot-right
    • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
    • Robotis Dynamixel MX-64AT (abs_x, abs_y, l/r_hip_y)actuator.mx64at
    • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
    • Robotis HN07-I101 set (MX-28 idler/free horn with bearing)structure.horn.hn07-i101
    • Robotis HN05-N102 set (MX-64 active horn)structure.horn.hn05-n102
    • Robotis HN05-I101 set (MX-64 idler/free horn)structure.horn.hn05-i101
    • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6
    • Wrench bolt M2x3, pack of 200 (horn screws, arm/shoulder/spine fixing)fastener.m2x3
    • Nut M2.5, pack of 400fastener.nut-m2_5
    • Robotis Robot Cable-3P 100 mm, pack of 10cable.3p-100
    • Custom 3P Dynamixel cables: 3x 220 mm, 3x 250 mm, 2x 500 mmcable.3p-custom

    Tools

    —

    Torque

    —

    Time

    —

    After

    01, 03

    Source

    github.com

13. Torso
    13

    Spine: abs_z (33), then join bust and chest

    Slide abs_z with a 200 mm cable into the spine (8 M2.5 bolts). Fix the double MX-28 to the spine with 16 M2 bolts, fix the i101 link to bust_x, then fix the chest with 16 M2 bolts, logo to the front and spine curve to the rear. Plug bust_x into the hub.

    CHECKThe Poppy logo faces the same way as the front of abs_z, and a scan from the hub finds IDs 33-36, 41 and 51.

    Parts in

    • spineprinted.trunk.spine
    • Robotis Dynamixel MX-28AT (arms, shoulders, bust, abs_z, hips x/z, knees, ankles)actuator.mx28at
    • Robotis HN07-N101 set (MX-28 active horn)structure.horn.hn07-n101
    • Robotis Robot Cable-3P 200 mm, pack of 10cable.3p-200
    • Wrench bolt M2x3, pack of 200 (horn screws, arm/shoulder/spine fixing)fastener.m2x3
    • Wrench bolt M2.5x4, pack of 200fastener.m2_5x4
    • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6
    • Nut M2.5, pack of 400fastener.nut-m2_5

    Tools

    Hot glue gun

    Torque

    —

    Time

    —

    After

    07, 08

    Source

    github.com

14. Legs
    14

    Join both legs to the pelvis

    Follow the legs/pelvis assembly instructions in Poppy-lightweight-biped-legs. The lower-body bus has its own hub, SMPS2Dynamixel and USB2AX.

    CHECKA scan of the lower bus finds exactly 10 motors: 11-15 and 21-25.

    Parts in

    • Robotis BIOLOID 3P Extension PCB (Dynamixel hub)electronics.3p-hub
    • Robotis SMPS2Dynamixel power injector (one per bus + spare/config rig)electronics.smps2dynamixel

    Tools

    —

    Torque

    —

    Time

    —

    After

    10, 11, 12

    Source

    github.com

15. Torso
    15

    Full trunk: abdomen and double MX-64

    Fix the abdomen to abs_z. Insert the double MX-64 with abs_y to the front, abs_x to the rear, and abs_z slightly forward of centre. Hot-glue the SMPS2Dynamixel at the rear. Video: 'Full trunk assembly' (#13).

    CHECKabs_y is at the front, and the torso bends forward/back (abs_y) and sideways (abs_x) by hand without collision.

    Parts in

    • abdomenprinted.trunk.abdomen
    • Robotis SMPS2Dynamixel power injector (one per bus + spare/config rig)electronics.smps2dynamixel

    Tools

    Hot glue gun

    Torque

    —

    Time

    —

    After

    13, 09

    Source

    github.com

16. 16

    Final torso: shoulders and both arms

    Connect the SMPS2Dynamixel to the last hub port with a 60 mm cable. Fix the shoulders with 16 M2x3 bolts, then each arm with 32 M2x3 bolts. Each arm must stand perpendicular to the body with its three dots matched. Video #14.

    CHECKAt the 0° pose, both arms hang perpendicular to the shoulder plate. A scan of the upper bus finds 14 motors (31-36, 41-44, 51-54); head_y (37) is added later.

    Parts in

    • shoulder_leftprinted.arms.shoulder-left
    • shoulder_rightprinted.arms.shoulder-right
    • Wrench bolt M2x3, pack of 200 (horn screws, arm/shoulder/spine fixing)fastener.m2x3
    • Robotis Robot Cable-3P 200 mm, pack of 10cable.3p-200
    • Robotis Robot Cable-3P 60 mm, pack of 10cable.3p-60
    • Robotis SMPS2Dynamixel power injector (one per bus + spare/config rig)electronics.smps2dynamixel

    Tools

    —

    Torque

    —

    Time

    —

    After

    15, 05, 06

    Source

    github.com

17. Legs
    17

    Mount the torso on the legs

    Join the torso's abdomen to the pelvis as shown in the legs/torso video (the guide gives 5 min prep and 5-10 min assembly).

    CHECKThe robot stands on a stand with the torso upright, and abs_y/abs_x move by hand without touching the pelvis.

    Parts in

    —

    Tools

    —

    Torque

    —

    Time

    —

    After

    14, 16

    Source

    github.com

18. Head
    18

    Head: head_y (37, AX-12A), Raspberry Pi 3, speakers, camera

    Fix the neck to head_y (4 S1 bolts) and head_y to the neck (4 S1 and 1 S-B). Plug head_y into the chest hub, and fix the head back with head_y at zero, horn and case marks aligned. Fit the screen, screen support, fake screen, camera support and speakers, then mount the Pi 3 on its four pillars, ports facing the rear. Leave the head face off until first startup works.

    CHECKhead_y answers at ID 37. At 0° the head faces forward, level with the chest, and the Pi's USB/Ethernet ports face the rear.

    Parts in

    • neck (U-shaped)printed.head.neck
    • head_backprinted.head.back
    • screen (transparent cover)printed.head.screen
    • screen_supportprinted.head.screen-support
    • fake_manga_screen (replaces the discontinued Manga Screen)printed.head.fake-manga-screen
    • camera_supportprinted.head.camera-support
    • speaker_left supportprinted.head.speaker-left
    • speaker_right supportprinted.head.speaker-right
    • Robotis Dynamixel AX-12A (head_z, head_y)actuator.ax12a
    • Raspberry Pi 3 (head computer, runs pypot + web UI)compute.rpi3
    • Speaker (head)electronics.speaker
    • Adafruit Stereo 3.7 W Class D amplifier, MAX98306electronics.audio-amp
    • Head camera (archived BOM: 2 MP USB 'Videw' OV2643 camera, 120° or 170° FOV; current kit: mini Raspberry Pi camera)sensor.camera
    • Robotis BIOLOID Bolt-Nut Set BNS-10 (S1, S2, S-B bolts for AX-12 head; M2x6 for pelvis)fastener.bns10
    • Robotis N1 nut M2, pack of 400fastener.nut-m2
    • Nut M2.5, pack of 400fastener.nut-m2_5
    • Wrench bolt M2.5x6, pack of 200 (MX case screws)fastener.m2_5x6
    • Robotis Robot Cable-3P 140 mm, pack of 10cable.3p-140

    Tools

    —

    Torque

    —

    Time

    —

    After

    16

    Source

    github.com

19. Electrical
    19

    Wiring: two independent Dynamixel buses

    Safety · human-verified required

    Upper bus runs from head_y to abs_x, lower bus from the hip_z motors to the ankles. Each bus has its own SMPS2Dynamixel, 12 V supply, hub and USB2AX, and both USB2AX plug into the Pi. With only one 12 V supply, the 4P cable with its data wires cut can bridge the two power buses. Plug in the two 12 V leads and the 5 V Pi lead, but don't connect them to the wall yet. If the bus is noisy, cut the centre (+12 V) wire of the cable at the USB2AX only.

    CHECKWith everything unpowered, continuity shows no data line shared between the two buses. Each USB2AX leads to exactly one bus.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Xevelabs USB2AX USB-to-Dynamixel TTL adapter (one per bus)electronics.usb2ax
    • Robotis SMPS2Dynamixel power injector (one per bus + spare/config rig)electronics.smps2dynamixel
    • Robotis BIOLOID 3P Extension PCB (Dynamixel hub)electronics.3p-hub
    • 12 V wall power supply for the Dynamixel buses (Robotis SMPS 12V 5A PS-10 in the archived BOM)power.psu-12v
    • 5 V micro-USB power supply for the Raspberry Pi 3power.psu-5v-rpi
    • USB hub, 4 portelectronics.usb-hub
    • Cable-4P 200 mm with D+/D- wires cut (links the two 12 V buses on a single PSU)cable.4p-200

    Tools

    —

    Torque

    —

    Time

    —

    After

    17, 18

    Source

    github.com

20. Bring-up
    20

    Write the Poppy Humanoid SD image

    Write 2020-10-23-poppy-humanoid.img.7z (release 3.0.0, latest stable) or 2021-07-30-poppy-humanoid.img.7z (4.0.0-beta, adds Scratch and a new REST API) to an SD card of 8 GB or more. The DIY route is `pip install poppy-humanoid` on your own OS.

    CHECKThe Pi boots and the Wi-Fi network 'Poppy-Hotspot' appears (password poppyproject).

    Parts in

    • microSD card, 8 GB minimum, flashed with the Poppy Humanoid imageelectronics.sd-card
    • Raspberry Pi 3 (head computer, runs pypot + web UI)compute.rpi3

    Tools

    SD card writer (e.g. Etcher)

    Torque

    —

    Time

    —

    After

    18

    Source

    github.com

21. 21

    First power-on and motor detection

    Safety · human-verified required

    Keep the robot on a stand and the head open. Plug in both 12 V supplies and the 5 V Pi supply, then open http://poppy.local (Windows needs Bonjour). Look at the 'What happened' log: the software reports missing, extra or duplicate motors if the wiring is wrong.

    CHECKhttp://poppy.local loads, the 'What happened' log shows the robot started with no missing-motor error, and Monitor and Control lists all 25 motors.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • 12 V wall power supply for the Dynamixel buses (Robotis SMPS 12V 5A PS-10 in the archived BOM)power.psu-12v
    • 5 V micro-USB power supply for the Raspberry Pi 3power.psu-5v-rpi

    Tools

    —

    Torque

    —

    Time

    —

    After

    19, 20

    Source

    github.com

22. 22

    First motion: stand_position / sit_position primitives

    Safety · human-verified required

    From Monitor and Control or Python (`from poppy_humanoid import PoppyHumanoid; poppy = PoppyHumanoid(); poppy.stand_position.start()`), run the built-in posture primitives. temperature_monitoring and limit_torque are attached automatically. If a horn was pressed on misaligned, correct its offset in poppy_humanoid.json. After debugging, close the head face with 3 M2 nuts and 3 S2 bolts.

    CHECKstand_position brings every joint to within a few degrees of 0° with no joint hitting a hard stop, and sit_position runs back without a DxlError or timeout.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    —

    Tools

    —

    Torque

    —

    Time

    —

    After

    21

    Source

    github.com

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