Open Source RoboticsRobots, software & learning

DARwIn-OP

Robot / hardware build

A historical small humanoid platform with original mechanical CAD and an assembly manual; electronics and software rights remain separate. [1] [2] [3]

Build & first use →Official websiteUpstream build guide

For
Humanoid robotics researchers; Experienced mechanical/electronics builders [1]
Cost
No current cost or bill of materials established yet.
Source rights
Some licenses are unresolved. Includes noncommercial terms. Review licenses
Unknowns
host computer, tools, operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
CC-BY-NC-SA-3.0 (noncommercial) · license not fully assessed for mechanical design · Details by part

Requirements · Research details and dates

On this page

Overview

DARwIn-OP is a miniature humanoid research platform from RoMeLa and ROBOTIS. We preserved the original 2011 mechanical part archive: 114 ZIP members include IGS, STEP and native PRT geometry. The v1.0.1 assembly manual gives a parts-sequenced procedure and explicitly requires its companion wiring and fabrication manuals. This is a historical mechanical design and assembly reference, not a verified complete build package. [1] [2] [3]

Begin at the ROBOTIS reference manual to keep the original DARwIn-OP separate from later OP2 designs. The selected platform uses an onboard PC, CM-730 subcontroller and 20 DYNAMIXEL MX-28 modules. Inspect the part ZIP against the manual's part numbers before planning fabrication, then obtain the matching wiring and electronics documentation. We did not reconcile every purchased part or attempt assembly. [1] [2] [3]

The assembly manual grants CC BY-NC-SA 3.0 rights for that document. This review did not establish a matching license for the CAD archive or inspect the linked main/CM-730 firmware sources. ROBOTIS explicitly says FSR firmware is not open source. Current component availability, a complete cost and physical operation remain unverified. [1] [2] [3]

Is this for you?

Known limitations
  • The preserved part ZIP provides mechanical CAD, not the complete electronics, firmware, wiring or procurement package.
  • The assembly manual's CC BY-NC-SA terms apply to that document; CAD reuse rights were not established here.
  • ROBOTIS states the FSR firmware is not open source.
  • Current components, exact revision matching and physical operation were not verified.

Source-layer and reproduction limits.

[1] [2] [3] · Editorial assessment

What you need

Dependencies
  • DYNAMIXEL actuators
  • CM-730 controller and onboard PC
  • Camera, power system and fabricated frame parts
  • Matching wiring and fabrication documents

[1] [3]

Hardware & parts

Hardware configuration

Miniature biped humanoid

[1]

Actuators
  • 20 DYNAMIXEL MX-28 actuator modules in the described configuration

[1]

Controller

Onboard PC and CM-730 subcontroller

[1]

Assembly & first use

Open the upstream getting-started guide [1]

Assembly

RoMeLa's v1.0.1 assembly manual gives a parts-sequenced procedure and says to use its wiring and fabrication manuals alongside it.

[3]

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. The original CAD ZIP is preserved; component selection, assembly placement and reuse rights need review before generating a hosted model.

Model sources

The original CAD ZIP is preserved; component selection, assembly placement and reuse rights need review before generating a hosted model.

What we checked

Source research only; no fabrication, hardware commissioning, software installation or performance test performed.

Not yet established

  • Requirements: operating system, host computer, tools
  • A step-by-step setup summary

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Oct 24, 2026
Sources last checked
Oct 24, 2026
Next review
Nov 24, 2026
Reviewed revision
DARwIn-OP 2011 part-file archive SHA-256 8507c9a69335a595…; assembly manual v1.0.1, modified 2011-07-26

Source files and licenses

Original CAD geometry and licensed assembly documentation make a useful historical design reference; other layers and CAD rights are unresolved.

LayerAvailability / license
mechanical designavailable · License not fully assessed
Original mechanical STEP/IGS/PRT files were downloaded and ZIP integrity checked; CAD-specific reuse grant unresolved. [1] [2]
electronicsnot found · License not fully assessed
The e-Manual links electronics material, but the payload was not acquired or inspected in this bounded mechanical review. [1]
firmwarenot found · License not fully assessed
Main/CM-730 firmware sources were not acquired; ROBOTIS explicitly says FSR firmware is not open source. [1]
softwarenot found · License not fully assessed
Framework source is linked but not pinned or inspected in this mechanical design profile. [1]
documentationavailable · CC-BY-NC-SA-3.0
RoMeLa's v1.0.1 assembly manual explicitly licenses that document under CC BY-NC-SA 3.0. [1] [3]

No independent artifact in the selected configuration established during this review.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history