Other Resources

  • Introduction to Dynamixel Motor Control Using the ArbotiX-M Robocontroller
    • By: Daniel Jacobson


This manual is required reading for a new user. It serves as a comprehensive introduction to using the servos that make up MantisBot, including writing code to control them and understanding serial communications. It is very user-friendly.  It should be available via the BioRobotics website, a senior student in the lab, or myself.

  • MantisBot: A Robotic Platform for Development of Complex Neural Control
    • By: David Chrzanowski


This is the M.S. thesis written outlining MantisBot. It provides a broad-stroke overview of the context for the robot and the major design decisions. This is published online through Ohio’s ETD system.

  • AnimatLab Online Resources
    • David Cofer – NeuroRobotic Technologies



The software used to simulate and control MantisBot is called AnimatLab. Originally used for full-physics simulations controlled with networks of biologically-inspired neurons, the software was expanded to include support for robotic control. Below are links to the online resources for the baseline software and the robotics interface respectively.

  • Massively Distributed Neuromorphic Control for Legged Robots Modeled After Insect Stepping
    • By: Nicholas Szczecinski

Szczecinski Thesis

This M.S. thesis provided the inspiration for MantisBot. For someone looking to get into the neuroscience that controls MantisBot, this would be a good place to start. This is published online through Ohio’s ETD system.

  • OEM e-manuals for servos and controller board



AX-12A Servos: http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm

MX-64T Servos:http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm