The ROBOTIS Darwin MINI is a programmable miniaturized humanoid robot featuring 16 XL-320 Dynamixels (16 DOF), the OpenCM9.04 C, an Arduino-like open-source embedded controller featuring a 32-bit ARM Cortex-M3 processor, a 3D printable frame for robot customization, and Android/iOS smart device connectivity via BT-210 (Bluetooth 2.1) or BT-410 (BLE) Bluetooth modules.