In the Spring of 2014, the DARWIN-MINI system was released internationally using a new controller (OpenCM-9.04-C), with a new communication device (BT-210) and the new RoboPlus 2.0 suite: TASK, R+ DESIGN and R+ MOTION (V.2). So far (March 2015), the RoboPlus Manager tool (V. could only serve as a firmware updater to the 9.04-C, but the RoboPlus Dynamixel Wizard tool (currently at V. had been modified to work with OpenCM-9.04-C quite well as a Firmware Update/Recovery tool for the XL-320 actuators as well as for the 9.04-C controller (see Sect.4.2.2). The OpenCM-9.04-C could also be used with the OpenCM IDE V.1.0.2, but it would need a firmware recovery (via Manager only and the micro USB port) to make it work again with the RoboPlus 2.0 suite. In November 2014, the second edition of this system with an improved XL-320 (metal pinion gear) was renamed ROBOTIS-MINI.


Robot Move Motion Group Video File Motion Unit Wireless Option 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Supplementary material

Video_11_1 (MP4 84,694 kb)

Video_11_2 (MP4 19,727 kb)

Video_11_3 (MP4 23,175 kb)

Video_11_4 (MP4 16,428 kb)

Video_11_5 (MP4 3,309 kb)

Video_11_6 (MP4 19,236 kb)


  1. Billard A et al (2008) Robot programming by demonstration. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Heidelberg, pp 1371–1394Google Scholar
  2. Calinon S (2009) Robot programming by demonstration: a probabilistic approach. EPFL Press, LausanneGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Chi N. Thai
    • 1
  1. 1.College of EngineeringUniversity of GeorgiaAthensUSA

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