Duke Humanoid v1 vs Poppy Humanoid
Generated from the registry · revision 2026-09-26 · openness out of 100
Duke Humanoid v1 has 15 fewer degrees of freedom (10 vs 25) than Poppy Humanoid. Openness score: Duke Humanoid v1 85, Poppy Humanoid 90 (of 100); only Duke Humanoid v1 publishes POL; only Poppy Humanoid publishes FW. Availability: Duke Humanoid v1 research only, Poppy Humanoid kit.
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Side by side
■ rows differ| Field | Duke University General Robotics LabDuke Humanoid v1 | Poppy Project (Inria Flowers)Poppy Humanoid | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Duke University General Robotics Lab | Poppy Project (Inria Flowers) | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Research | Orphaned | |
| Availability (differs) | Research only | Kit | |
| Country (differs) | United States | France | |
| Year | 2024 | —unsourced | |
| Specifications | |||
| Height | —unsourced | 84cm | |
| Mass | —unsourced | 3.5kg | |
| Degrees of freedom (differs) | 10 | 25 | −15 (-60%) |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | —unsourced | |
| Price | Not for sale | —unsourced | |
| Actuators | —unsourced | Dynamixel: 19 MX-28AT, 4 MX-64AT, 2 AX-12A | |
| Compute | —unsourced | Raspberry Pi (current kit version) | |
| Sensors | —unsourced | —unsourced | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 85/ 100 | 90/ 100 | −5 |
| CAD (25) | public | public | |
| Bill of materials (20) | public | public | |
| Sim model (URDF/MJCF) (20) | public | public | |
| Firmware (15) (differs) | not public | public | |
| Software (10) | public | public | |
| Trained policies (10) (differs) | public | not public | |
| Verification level | L1 | L1 | |
| Sources (differs) | 4 | 6 | |
| Last checked | 2026-09-25 | 2026-09-25 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: Duke Humanoid v1, Poppy Humanoid.
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