Actuator comparison
DYNAMIXEL XL330-M288-T → Feetech HD-1910-C001
Supplier listings describe a 6 V, 10 kg·cm, metal-gear, dual-shaft TTL bus servo marketed for MicroDuck-style joints. Torque and voltage are in the same class as the reference actuator, but mounting geometry, connector pinout, packet protocol and closed-loop behaviour differ. No ANHOT bench or robot test has been run. This is a paper comparison only.
| Dimension | DYNAMIXEL XL330-M288-T | Feetech HD-1910-C001 |
|---|---|---|
| Evidence | Official | Community reported |
| Voltage | 3.7–6.0 V (recommended 5.0 V) | 6 V (vendor listing) |
| Stall torque | 0.52 N·m at 5.0 V | 10 kg·cm (≈0.98 N·m) |
| Speed | 103 rpm at 5.0 V | Not published in reviewed listings |
| Dimensions | 20 × 34 × 26 mm (W × H × D) | 34 × 20 × 23 mm |
| Protocol | TTL half-duplex multidrop, 8N1, DYNAMIXEL packet protocol | TTL serial bus (single-bus) |
| Feedback | Position, velocity, current, temperature, input voltage, trajectory | Not documented in reviewed listings |
| Unit price | $27.49 observed 2026-10-21 | CN¥39.22 observed 2026-10-21 |
| Mechanical fit | Unverified | |
| Electrical fit | Spec matched | |
| Protocol | Unverified | |
| Firmware support | Unverified | |
| Motion policy | Unverified | |
Required before claiming this works
- Redesign or reprint servo mounts and horns for a different mounting pattern.
- Select and wire a bus adapter/controller bridge for the Feetech protocol.
- Build and continuity-test a connector harness; verify pinout and polarity.
- Port the servo driver and validate feedback scaling in firmware.
- Retrain or retune the locomotion policy; do not run the original policy untested.
Sources for this comparison
- HD1910 serial-bus servo — supplier listing — Alibaba (multiple suppliers)
- Feetech HD1910 servo — retail listings — Taobao (multiple sellers)
- XGO-Duck I — Feetech HD1910 quick-replica notes — Feetech
- MicroDuck Replica — BOM (community) — fanhao375 (GitHub)
- DYNAMIXEL XL330-M288-T — official specifications — ROBOTIS