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PC Control These demos and projects allow the robot to be controlled via a computer.

ArbotiX Commander Control - These demos and projects control the Robot using the ArbotiX Commander, the handheld Arduino based remote control.

Direct Control - These demos and projects control the Robot directly from sensors connected directly to the Robot's control board.

Pose Control - These demos and projects allow you to create and playback a sequence of poses.

Serial Control - These demos and projects control the robot using a serial packet protocol.

Standalone - These demos and projects are deisgned to let your robot function without a computer or additional microcontroller.

Wireless Control - These demos and projects allow you to control the robot wirelessly - usually by replacing the Serial Connection with XBee modules.

Reference - These articles have technical details regarding the control and operation of the robot.

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More info here

Trossen Robotics Dynamixel Guide

Robotis Dynamixel Actuators are the top-tier actuator choice in the industry for researchers and universities.

Overview

Dynamixel actuators have been used by every major university, research lab, military and government research lab, and robotic competition worldwide. Each Smart Actuator has an onboard microprocessor to facilitate bus communication, positional feedback, temperature and load monitoring. The casing of each servo is built specifically with robotics in mind, providing easy to use mounting rails and a comprehensive bracket system available for building robotic limbs. TTL and RS-485 serial communication allows for daisy-chainable bus connections at up to 1-3mbps. In addition, the Dynamixel's onboard MCU has a set of user customizable features, allowing users to tune the servos in specifically for their application.

  • Dedicated onboard MCU
  • Adjustable torque, speed, and response
  • Position, load, voltage, temperature feedback
  • Daisy-chainable Serial Communication
  • Wide range of sizes, strengths, and communication options
  • Modular mounting design with comprehensive brackets and frames
  • 3D models, dimensional drawings, full documentation available

Dynamixel AX Series

AX-12A AX-12W AX-18A
Model AX-12A AX-12W AX-18A
Stall Torque @ Max Voltage 1.5N.m / 16.5 kg-cm 0.2N.m / 2.0 kg-cm 1.8N.m / 18 kg-cm
Speed (RPM) 59 470 (at 12V, wheel mode)
54 (at 12 V, joint mode)
97
Operating Voltage 9 ~ 12V (Rec. Voltage 11.1V) 9 ~ 12V (Rec. Voltage 11.1V) 9 ~ 12V (Rec. Voltage 11.1V)
Stall Current Draw 1.5A 1.4A 2.2A
Dimensions 32mm x 50mm x 40mm 32mm x 50mm x 40mm 32mm x 50mm x 40mm
Weight 54.6g 52.9g 55.9g
Resolution 0.29° 0.29° 0.29°
Operating Angle 300 300 300
Gear Reduction 254 : 1 32 : 1 254 : 1
Geartrain Material Eng. Plastic Eng. Plastic Eng. Plastic
Onboard CPU ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit)
Position Sensor Potentiometer Potentiometer Potentiometer
Com Protocol TTL TTL TTL
Com Speed 1mbps 1mbps 1mbps
Compliance/PID Compliance Compliance Compliance
Dimensional Drawings
Dynamixel, Bioloid, and Frame Drawings

Dynamixel RX Series

RX-24F RX-28 RX-64
Model RX-24F RX-28 RX-64
Stall Torque @ Max Voltage 2.6N.m / 26.5 kg-cm 3.7N.m / 37.7 kg-cm 5.3N.m / 54 kg-cm
Speed (RPM) 126 470 (at 12V, wheel mode)
54 (at 12 V, joint mode)
64
Operating Voltage 9 ~ 12V (Rec. Voltage 11.1V) 12V~18.5V (Rec. Voltage 14.8V) 12 ~ 18.5V (Rec. Voltage 14.8V)
Stall Current Draw 2.4A 1.9A 2.6A
Dimensions 35.6mm x 50.6mm x 35.5mm 35.6mm x 50.6mm x 35.5mm 40.2mm x 61.1mm x 41mm
Weight 67g 72g 125g
Resolution 0.29° 0.29° 0.29°
Operating Angle 300 300 300
Gear Reduction 193 : 1 193 : 1 200 : 1
Geartrain Material Hardened Steel Hardened Steel Hardened Steel
Onboard CPU ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit)
Position Sensor Potentiometer Potentiometer Potentiometer
Com Protocol RS-485 RS-485 RS-485
Com Speed 1mbps 1mbps 1mbps
Compliance/PID Compliance Compliance Compliance
Dimensional Drawings
Dynamixel, Bioloid, and Frame Drawings

Dynamixel MX Series

MX-28 MX-64 MX-106
Model MX-28T / MX-28R MX-64T / MX-64R MX-106T / MX-106R
Stall Torque @ Max Voltage 3.1N.m (31.6 kg-cm) 7.3N.m / 74.4 kg-cm 10.0N.m / 101 kg-cm
Speed (RPM) 97 78 55
Operating Voltage 10 ~ 14.8V (Rec. Voltage 12V) 10 ~ 14.8V (Rec. Voltage 12V) 10 ~ 14.8V (Recommended Voltage 12V)
Stall Current Draw 1.7A 5.2A 6.3A
Dimensions 35.6mm x 50.6mm x 35.5mm 40.2mm x 61.1mm x 41mm 40.2mm x 65.1mm x 46mm
Weight 72g 126g 153g
Resolution 0.088° 0.088° 0.088°
Operating Angle 360 360 360
Gear Reduction 193 : 1 200 : 1 225 : 1
Geartrain Material Hardened Steel Hardened Steel Hardened Steel
Onboard CPU Cortex M3 (STM32F103C8@72MHZ, 32 Bit) Cortex M3 (STM32F103C8@72MHZ, 32 Bit) Cortex M3 (STM32F103C8@72MHZ, 32 Bit)
Position Sensor Magnetic Encoder Magnetic Encoder Magnetic Encoder
Com Protocol TTL / RS-485 TTL / RS-485 TTL / RS-485
Com Speed 3mbps 3mbps 3mbps
Compliance/PID PID PID PID
Dimensional Drawings
Dynamixel, Bioloid, and Frame Drawings