Poppy Humanoid is an open-source, 3D-printed humanoid robot from the Poppy Project, born in 2012 at Inria’s Flowers laboratory and now stewarded by the Poppy Station non-profit. It was built as a research and education platform first — modular, repairable, and fully documented, so labs, classrooms, and hobbyists can build, study, and modify a complete humanoid rather than treat it as a sealed black box.
The mechanism
Twenty-five actuated joints, all independently driven Dynamixel servos with no mimic joints or closed kinematic loops: five per leg (a 3-axis hip, a knee, and an ankle), three in the torso, two in the bust, two in the head, and four per arm (a 2-axis shoulder, an axial rotation, and an elbow). Every one of the 25 is a real, independent read of the URDF.
About this file — read before importing
This links directly to poppy-humanoid, the Poppy Project’s own repository. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what the Poppy Project publishes, unmodified.