Many IVALab robots are constructed using Dynamixel motors and compatible products (eg. connecting frames), manufactured and sold by Robotis. The Dynamixel line of motors sits somewhere between cheaper hobbyist servos and higher-end industrial solutions. They come equipped with several convenient features (eg. encoder position sensing, temperature/load sensing, over-voltage protection, serial communication, etc.).

A stream-lined hardware configuration and API have been set-up to operate the motors:

1. Hardware Setup
2. Matlab Interface
3. ROS Integration (Python)

Tools:

1. Dynamixel Wizard 2.0 (GUI-based motor control/diagnosis)
2. Dynamixel Workbench

References:

1. E-Manual
2. Compatibility Chart
3. Motor Selection Guide

Useful Downloads :

1. Mechanical Drawings/Models
2. Dynamixel SDK ( Git )

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