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I designed a new body for Poppy so she can hold her 6 volt battery and be able to move around. These robots use the ez-robot controller and software from Synthiam. It took a little while to get the timing down. It's tough to get all the servos working. One time Isaac clobbered Poppy, knocked her down broke her arm and knocked off her head. I turn on the motors in her base for short periods of time. I'm looking at using encoders because as the battery drains her movements aren't consistent like they are for a servo.