Robots that use the ROBOTIS Dynamixel servos

ROBOTIS's family of networked smart servos (X, MX and AX series), common in research arms, hands and humanoids.

13 robots in the atlas list it in their bill of materials, 165 units across the rows below. Quantities are what each source lists; a row can be a set or kit, so read the row name with its number.

Which robots use the Dynamixel

Robots that use the ROBOTIS Dynamixel servos
Robot	BOM rows	Cost	DoF	Hardware license	Sim model	Score
Koch v1.1ManipulatorDormant	6 x Dynamixel XL330-M077-T servo 2 x Dynamixel XL430-W250-T servo 4 x Dynamixel XL330-M288-T servo	$477source total, leader and follower arms	6	Apache-2.0Commercial use OK	none published	89
Poppy HumanoidHumanoidDormant	19 x Robotis Dynamixel MX-28AT actuators 4 x Robotis Dynamixel MX-64AT actuators 2 x Robotis Dynamixel AX-12A actuators	$8.5kestimate, upstream build estimate of 8,000 to 9,000 USD, mostly actuators	25	CC-BY-SA-4.0Commercial use OK	URDF	80
Q8botQuadruped	8 x DYNAMIXEL XL330-M077-T servo	$337source total, self-printed FDM parts and self-reflowed PCB	8	MITCommercial use OK	none published	80
ORCA HandDexterous hand	17 x ORCA motor set (Dynamixel version)	$2.4ksource total, ORCA v1 legacy Dynamixel BOM incl. 210 USD shipping; v1 is no longer produced	17	CC-BY-4.0Commercial use OK	URDF, MJCF	73
ToddlerBotHumanoid	2 x DYNAMIXEL 2XC430-W250-T 6 x DYNAMIXEL 2XL430-W250-T 6 x DYNAMIXEL XC330-T288-T 4 x DYNAMIXEL XC430-T240BB-T 4 x DYNAMIXEL XM430-W210-T 4 x DYNAMIXEL XM430-W350-T 2 x DYNAMIXEL XC330-T288-T	$5.7ksource total, 2XC essentials, tools excluded	30	CC-BY-NC-SA-4.0Non-commercial	MJCF, Onshape	70
Actuated UMI GripperGripper	1 x DYNAMIXEL XL430-W250-T servo	not published	1	MITCommercial use OK	none published	68
ROBOTIS OpenManipulator-XManipulator	5 x XM430-W350-T actuator	$1.6kvendor kit, RM-X52-TNM kit (5 XM430-W350-T, frames, cables, tools); excludes SMPS, U2D2/OpenCR, base plate	5	CC-BY-4.0Commercial use OK	URDF	65
Yale OpenHand ProjectDexterous hand	2 x Dynamixel XM430 actuator	not published	4	CC-BY-NC-3.0Non-commercial	none published	65
LEAP HandDexterous hand	16 x DYNAMIXEL XC330-M288-T actuator set	$1.8ksource total, regular v1 hand, parts page as of Aug 2023	16	CC-BY-NC-4.0Non-commercial	URDF	63
RUKA HandDexterous hand	11 x DYNAMIXEL XL330-M288-T	$520source total, one hand, XL330-M288-T version, without tools, BOM as of 2024-12-19	11	No license stated for the printable partsUnknown or unclear	MJCF, Onshape	63
TurtleBot3Mobile base	2 x DYNAMIXEL XL430-W250-T drive actuators 2 x DYNAMIXEL XM430-W210-T drive actuators	$758vendor kit, TurtleBot3 Burger RPi4 2GB kit [US]	2	Declared open source hardware, no license namedUnknown or unclear	URDF, Onshape	63
NimbRo-OP2/OP2XHumanoidDormant	34 x Robotis Dynamixel actuator set	not published	18	CC-BY-NC-SA-3.0Non-commercial	none published	48
Reachy 2Humanoid	2 x Parallel torque-controlled grippers	$70kestimate, Reachy 2 robot as reported at the HF acquisition	24	Apache-2.0Unknown or unclear	MJCF	40

How this list is built

BOM rows that name a Dynamixel actuator of any series. U2D2 interfaces, horn and idler sets, brackets and cables are not counted.

A row counts when its part name names the Dynamixel, or when its specification does and the part name is generic (a compute board, a servo set). Nothing is inferred beyond the row text: a robot that uses the part but does not list it in its bill of materials is not here.