Poppy Humanoid Multi-Articulated Trunk module

This Poppy module include 3D printable parts to create a robotic 5-DoFs multi-articulated trunk.

It can be used for the Poppy Humanoid or be freely included in any other robotic creatures if you find it relevant.

The design was done using Solidworks (2013-SP5) and is distributed with native formats. More format such as STEP and STL can be found in the release section.

Open Source Hardware

All the technological development work made in the Poppy project is freely available under open source licenses. Only the name usage "Poppy" is restricted and protected as an international trademark, please contact us if you want to use it or have more information.

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. Please keep references to the Poppy project (www.poppy-project.org) and authors when you use or fork this work.

Authors: Matthieu Lapeyre, Alexandre Le Falher.

Support

You need support ? The Poppy forum is the best (and single) place to ask for help !

Setup

This module requires the Robotis Library, which includes all Robotis components needed for the actuation of this trunk.

Contribute

/!\ SolidWorks version

The SolidWorks policy sucks, they intentionnaly break compatibility between recent and older version. If you have a Solidworks older than 2013-SP0 you will certainly be able to open these parts but only as a read-only mode, which is equivalent to not beign able to open it...

Therefore, we won't upgrade our SolidWorks so more people can easily modify parts for their own uses.

For the same reason, we ask potential contributors wanting to pull work into official repository to downgrade (if needed) their solidworks version to 2013.

Accepting a pull-request from a Soldiworks >= 2014 will break whole compatibility.

The Poppy project history

The Poppy project is born in 2012 in the Flowers laboratory at Inria Bordeaux Sud-Ouest. It was initiated during Matthieu Lapeyre's PhD Thesis surpervised by Pierre Yves Oudeyer. At the beginning, the development team was composed by Matthieu Lapeyre (mechanics & design), Pierre Rouanet (software) and Jonathan Grizou (electronics).

This project is initially a fundamental research project financed by ERC Grant Explorer to explore the role of embodiement and morphology properties on cognition and especially on the learning of sensori-motor tasks.