Thank you Nicolas. Here is a short video of what I am working on. I am still waiting for the poppy to be delivered so I can implement this software on it. I have already prepared the entire robot structure and dynamixel integration:
https://www.youtube.com/watch?v=00ZJZ_O–vM
Poppy will be making hand and body gestures while talking and will also be maintaining eye contact. This has been already coded and tested with some AX12 motors I have. I cant wait to try it on a real life poppy.
Note that this is only my first iteration and I still have a very long way to go for improving it. I have only been working on this for about a month.