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Poppy Ergo Jr


Poppy Ergo Jr robot is a small and low cost 6-degree-of-freedom robot arm. It consists of very simple shapes which can be easily 3D printed with FDM printers.

It works with Dynamixel XL-320 motors, and a Raspberry Pi for control.


It comes with three tools:

  • a lampshade
  • a grasper
  • a pen holder

The Poppy Ergo Jr is ideal to start manipulating robots and learn robotic without difficulties.

It is particularly well suited for educational purposes (cheap, simple to assemble, and easily controllable) or can be a very nice desk decoration for geeks and makers...

Documentation about Poppy Ergo Jr as every projects of the Poppy platform is located at

Build your own Poppy Ergo Jr

Setup your Raspberry Pi board

Poppy Ergo Jr is based on the Raspberry Pi 2 board but also works with Raspberry Pi 3. We provide our own image (based on Raspbian) that can be directly copied to the SD-card. You can refer to the documentation for more details. Note that if you buy it as a kit from one of the reseller you will also get a pre-installed SD-card.

You can also use our setup script directly on a Raspberry Pi based on Raspbian. Be aware tough that it takes some time and some good knowledge of Linux. We use the Raspoppy scripts to setup the Raspberry Pi to match our needs (custom Python, setup serial communication, setup the web interface, a Poppy user...).

It a two steps process:

  • Make sure you have enough space on the SD-card (at least 8GB). You can expand your partition if needed via:
sudo raspi-config --expand-rootfs

You will need to reboot afterwards.

  • Run the installation commands:

    curl -L -o /tmp/
    chmod +x /tmp/
    sudo /tmp/

You can refer to the documentation for more details.


You can share your experience, new design, ideas or questions on the Poppy project forum.

To contribute to this repository, you can fork it and propose a pull request (Another useful link)


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.

License Hardware Software
Title Creative Commons BY-SA GPL v3
Logo Creative Commons BY-SA GPL V3

The Poppy project history

The Poppy project was 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.

More on the project