Great, Poppyrate looks more and more like a real robot !
I saw you forked the old beta version as a basis for your parts. There is not a lot of change with the official one but for example you should rather use the novel feet version. The new head is also more… polished 
Photo de Poppyrate (tête provisoire) prise par mes soins au Carrefour Numérique de la Villette lors des Samedis robots du 27 février, aux côtés de Poppy.
@poppyrate I’ve done some testing and it should be possible to run the AX-12A at 7.4V (or a 2S lipo). I’ve hooked one up on an DXL interface with a 2S lipo and works fine - I can scan the bus, I can send commands and the servo moves in position. I can’t talk yet about the torque you can get at this voltage - but I will try to test that in the next days.
If that will work all well it means you don’t need any voltage changers - just a couple of custom cables that change from the XL connector to the AX one. Or if you have a board that is custom and has both XL and AX connectors, and you position it in the chest (with a raspberry A+? maybe) it’s even better.
