Poppy's Mobility and Minimum Torque required

[Mohamed_Salah]

Hi,
I have a question about Poppy’s mobility, can this design walk balanced without any external assistance, and if that is possible what is the minimum torque needed for the servo motors.

[Matthieu]

Until now, we did not see any example of achieving a walking behavior without external assistance.

[robinszeto]

The entry barrier of high cost deter interested people to join the development. I personally think a mini-sized Biped Poppy with cheapest smart motors can help bring more people in. Also, the height of the full sized Poppy make it more hard to code the walking program.

[jgrizou]

If you are interested in a smaller humanoid, you can have a look at the following projects:

Heol, Mini humanoid

Hi ! We have created with @YusufGkl a mini-humanoid robot based on pypot library. The robot called Fendi has 23 DOFs (spine). For the moment, this is just a prototype based on the Darwin mini. In a 2 weeks, we will tested a new version, all of the parts (except pelvis) is optimize for maker’s 3d Printer and we haven’t parts of Darwin. We created standards parts to reduce the cost of the printing, for facilitate the build and the modifications. Fendi has not head actually, because we have a des…

New Mini Humanoid : Poppyrate!

Hi ! We are pleased to introduce to the Poppy Community and to the Flower Team our new poppy-based project: Poppyrate! Our Poppyrate is a 25 DOF robot, motorized with 23 XL-320 and 2 AX-12A. Our purpose is the same as the Poppy project’s one: Make accessible robotics through an Open-Source, 3D Printable, Transportable and Inexpensive robot. But unlike most projects and the INRIA, we are ZeCloud Robotics a little company of two employees. To reconcile our two opposite objectives, profit and popu…

[Matthieu]

The taller the robot COG is, the slower the robot fall. It is the dynamic of the inverse pendulum. Also the natural frequency of the structure is smaller. If you want to explore dynamic walking, these parameters help.

But if you just want a walking robot, you may find it easier on a small one.