Notice:
This documentation is for Gen2 (the current generation of the RH2D). If you're looking for documentation for the first generation see here

The RH2D is a lightweight version of the RH4D and is designed with small robot arms, biped humanoid robots and competition where Weight is an important factor.

It balances reduced weight (175g) with good payload capability (400g). The fingers use tendon tension equalization so that each finger individually conforms to the object being grasped.

The architecture of the RH2D is the same as all our units: the EROS architecture.
For this reason, most of the Manual details similar instructions.

• Connection Diagrams and Connector Pinouts

• Dynamixel Protocol: Default IDs and Communication Settings
• Add support for RH2D in Robotis/Roboplus Dynamixel Wizard

• RH2D Main board Control Table
• RH2D Actuators Control Table
• Controlling the unit using the Dynamixel Protocol (main connector interface)
• Control using the Seed Robotics Simple Text Protocol (STP) and Online Diagnostics and Maintenance (USB or Bluetooth interface)
• Complete List of Console Commands (to be used in the USB or Bluetooth console)

• Current sensing and Force estimation: how it works and how to take advantage of it

• Operation with the Darwin-OP Framework
• Operation with ROS, PyPot and other Frameworks

[ COMING SOON ]

• Upgrading the Main Board firmware