Many IVALab robots are constructed using Dynamixel motors as well as other peripheral products (eg. frames), manufactured and sold by Robotis. The Dynamixel line of motors sits somewhere between cheaper hobbyist servos and high-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)

Useful resources and references:

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

Useful Downloads :

1. Mechanical Drawings/Models
2. Dynamixel SDK

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