🤖 A simple 4 degree of freedom arm using XL320 motors
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Poppy Ergo Starter


Poppy Ergo Starter robot is a small and low cost 4-degree-of-freedom robot arm. It consists of very simple shapes which can be easily 3D printed with FDM printers and laser cutted.

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 Starter 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...


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