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ManufacturerROBOTIS Co., LtdRobot model · No. 4

Darwin-Mini

Mini Humanoid · Education & Training

CommercialSouth Korea

Key fact16 × DYNAMIXEL XL-320 · End of Life / Discontinued

Model details

Model specifications

Actuators16 × DYNAMIXEL XL-320

AvailabilityEnd of Life / Discontinued

BluetoothBT-210

CommunicationTTL Half-Duplex Serial.

ControllerOpenCM9.04-C

Controller Architecture32-bit ARM Cortex-M3

Degrees of Freedom16 DoF

Dimensions24 × 36 × 27 mm

Gear Ratio238:1

iOS Bluetooth optionBT-410

Later NameROBOTIS MINI

Mobile AppDARWIN-MINI / ROBOTIS MINI App

ModelDARWIN-MINI

Motion EditingR+ Motion / RoboPlus Motion

MotorCored

NationalitySouth Korea

No-load Speed114 rpm @ 7.4 V

Operating ModesJoint Mode / Wheel Mode

Product TypeProgrammable Miniature Bipedal Humanoid Robot Kit

ProgrammingR+ Task / RoboPlus Task

Recommended Voltage7.4 V

Resolution0.29°

Stall Torque0.39 N·m @ 7.4 V, 1.1 A

Weight per actuator16.7 g

About the Darwin-Mini

DARWIN-MINI is a 16-DoF programmable miniature bipedal humanoid robot kit introduced by ROBOTIS in 2014 for robotics education and interactive personal use. Built around 16 DYNAMIXEL XL-320 actuators and an OpenCM9.04 controller, it supports programmable walking, standing, dancing, gymnastics, soccer and fighting motions. Users can create custom behaviors through ROBOTIS task and motion software and operate the robot from a smartphone using buttons, gestures, voice recognition and messenger commands. DARWIN-MINI was subsequently marketed as ROBOTIS MINI, and the product is now end-of-life.

Typical applications: Education & Training.

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