Hi! I would like to buid Poppy Humanoid for a university project, but we only have available AX-12A dynamixels. Is it possible to buid Poppy only with this model? Or maybe change the other types to something cheaper? 
Thank you in advance.
Hello and welcome!
Unfortunately Poppy has more MX motors than AX motors. And these motor models have different sizes so you won’t be able to replace MX motors by AX ones, that would require tremendous work to adapt all STL parts.
There are 2 AX-12A motors in the head, so you will be able build only the head and the chest but with no arm (in pink hereunder). If you can afford 4 additional MX28 you would be able to build at least 1 arm (in green hereunder).
