DYNAMIXEL XM430-W350-T
by ROBOTIS. Used in 4 builds listed here.
Where to buy
Specs
| voltage | 12V nominal |
| interface | TTL half-duplex, DYNAMIXEL Protocol 2.0 |
| class | metal case, contactless absolute encoder |
Mistakes to avoid
- ROBOTIS US listed it as sold out on 2026-10-25 at $310.39; budget for lead time.
- OpenManipulator-X uses five of them (4 joints plus gripper) on 12V.
- In ALOHA it is inside the Trossen arms (2 per ViperX 300, 7 per WidowX 250 per the ALOHA BOM notes), so you only buy it loose as a spare.
Builds that use it
ALOHA
advanced · $21,000 to $24,000
Two leader and two follower Trossen arms in an extrusion cage for low cost bimanual teleoperation and imitation learning data.
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.
OpenMANIPULATOR-X (RM-X52-TNM)
intermediate · $1,710 to $2,160
Five-servo DYNAMIXEL desktop arm with a parallel gripper and full ROS 2 support, often paired with TurtleBot3 for teaching.
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.