drawing

BoM

  • 6x Dynamixel XL430 (~300 EUR)
  • 2x Dynamixel 2XL430 (~200 EUR)
  • 1x RPLIDAR A1 (~100 EUR)
  • 1x Intel Realsense D4xx Camera (200 ~ 300 EUR)
  • Jetson Nano / Xavier NX / Raspberry Pi (50 ~ 400 EUR)
  • 3d printed parts
  • 12V DC step down converter (< 10 EUR)
  • (5V DC step down converter, necessary for Jetson Nano & Raspberry Pi) (< 10 EUR)
  • screws (~ 30 EUR)
  • 4s Lipo Battery
With the choice of the board Total cost around
Jetson Xavier NX $1250
Jetson Nano $1000
Raspberry Pi $920

Arm configurations

  • High camera position, better position of the camera for 3d SLAM
  • More camera shaking during movement from backlash and tolerances


  • Lower camera position, worse position of the camera for 3d SLAM
  • Less camera shaking during movement from backlash and tolerances