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Conference Papers Year : 2013

The Poppy Humanoid Robot: Leg Design for Biped Locomotion

Matthieu Lapeyre
Pierre Rouanet
Pierre-Yves Oudeyer


We introduce a novel humanoid robotic platform designed to jointly address three central goals of humanoid robotics: 1) study the role of morphology in biped locomotion; 2) study full-body compliant physical human-robot interaction; 3) be robust while easy and fast to duplicate to facilitate experimentation. The taken approach relies on functional modeling of certain aspects of human morphology, optimizing materials and geometry, as well as on the use of 3D printing techniques. In this article, we focus on the presentation of the design of specific morphological parts related to biped locomotion: the hip, the thigh, the limb mesh and the knee. We present initial experiments showing properties of the robot when walking with the physical guidance of a human.
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Dates and versions

hal-00852858 , version 1 (22-08-2013)


  • HAL Id : hal-00852858 , version 1


Matthieu Lapeyre, Pierre Rouanet, Pierre-Yves Oudeyer. The Poppy Humanoid Robot: Leg Design for Biped Locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. ⟨hal-00852858⟩
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