Many of the IVALab robots are constructed from the Dynamixel line of motors, as well as peripheral products (eg. frames), manufactured and sold by Robotis. The Dynamixel line of products sit in middle of the the spectrum spanning the extremes of cheap hobbyist servos to expensive industrial solutions. Higher-end DC motors (eg. Maxon) are encased in convenient peripherals (eg. encoders, temperature/load sensing, etc.) to produce 'smart servo' motors.

A stream-lined process and set of hardware has been set-up to facilitate greater convenience when using Dynamixel motors:

1. Hardware Setup

2. Matlab Interface

3. ROS Integration (Python)

Useful resources and references:

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