DYNAMIXEL XL430-W250-T
by ROBOTIS. Used in 4 builds listed here.
Where to buy
ROBOTIS: $27.50 Generation Robots: EUR 36.00 RoboSavvy: GBP 27.20
Specs
| voltage | 12V nominal (6.5 to 12V) |
| interface | TTL half-duplex, DYNAMIXEL Protocol 2.0 |
Mistakes to avoid
- Runs on 12V while XL330s need 5V; Koch's follower uses a reducer so one supply can feed both.
- ROBOTIS US showed $27.50 on 2026-10-25, far below the $49.90 in older BOMs; recheck before quoting it.
- Mobile ALOHA uses two only as wheel encoders, with the gear nearest the motor removed so the wheel spins freely.
Builds that use it
Koch v1.1
intermediate · $477 to $560
Dynamixel-based leader and follower arm pair, the first LeRobot reference arm; pricier than SO-101 but uses ROBOTIS servos.
LeKiwi
intermediate · $482 to $620
Three-wheel omnidirectional base carrying an SO-101 arm, with a Raspberry Pi 5 and two cameras, for mobile manipulation.
Mobile ALOHA
advanced · $30,500 to $36,000
ALOHA's four Trossen arms on an AgileX Tracer base with a laptop and battery for whole body mobile teleoperation.
ToddlerBot 2.0
advanced · $5,730 to $7,760
Research humanoid about toddler size, built from Dynamixel servos and printed parts, with full RL and teleoperation software.