Rapid morphological exploration with the Poppy humanoid platform.

Matthieu Lapeyre 1 Steve N'Guyen 1 Alexandre Le Falher 1 Pierre-Yves Oudeyer 1
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
Abstract : In this paper we discuss the motivation and challenges raised by the desire to consider the morphology as an experimental variable on real robotic platforms as well as allowing reproducibility and diffusion in the scientific community. In this context, we present an alternative design and production methodology that we have applied to the conception of Poppy, the first complete 3D printed open-source and open-hardware humanoid robot. Robust and accessible, it allows exploring quickly and easily the fabrication, the programming and the experimentation of various robotic morphologies. Both hardware and software are open-source, and a web platform allows interdisciplinary contributions, sharing and collabora-tions. Finally we conduct an experiment to explore the impact of four different foot morphologies on the robot's dynamic when it makes a footstep. We show that such experimentation can easily be achieved and shared in couple of days at almost no cost.
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Matthieu Lapeyre, Steve N'Guyen, Alexandre Le Falher, Pierre-Yves Oudeyer. Rapid morphological exploration with the Poppy humanoid platform.. 2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. pp.8. ⟨hal-01096344⟩

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