# 14.3.1. 規格

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| Items               | Unit |                                    |
| ------------------- | ---- | ---------------------------------- |
| **Actuator**        |      | Dynamixel XM430-W350-T             |
| **Input Voltage**   | V    | 12                                 |
| **DOF**             | -    | 3                                  |
| **Speed(Joint)**    | RPM  | 46                                 |
| **Communication**   | -    | TTL (Level Multidrop BUS)          |
| **Software**        | -    | Dynamixel SDK, Arduino, Processing |
| **Main Controller** | -    | PC, OpenCR                         |
