Recently, some folks had been asking me about approaches that can be used for integrating a Bioloid Premium Humanoid A with RPi-4B. The video below provides Communications and Control Concepts that can be applied to this type of project.
Other relevant videos can also be viewed:
Use of Remocon Packet between CM-530 and RPi: https://www.youtube.com/watch?v=uLiYTpxfRCE
Use of OpenCV on RPi with CM-550 (Python): https://www.youtube.com/watch?v=JL5CssdrCBs
Use of OpenCV on RPi with CM-550 (C++): https://www.youtube.com/watch?v=i3ubdCkla6k
Use of ZigBee SDK on RPi with CM-550 (C/C++): https://www.youtube.com/watch?v=GSEVHBmYjeA
Use of PySerial on RPi with CM-550 (Python): https://www.youtube.com/watch?v=2ST3hkgEDKw
Creating Independent DXL Networks for use with CM-550 and RPi: https://www.youtube.com/watch?v=_IVbZqkiHOs
Using U2D2 and Independent DXL Networks: https://www.youtube.com/watch?v=J7sdKkUr5uA
Sensing Sensor Data from CM Controller to PC (Python): https://www.youtube.com/watch?v=Hw8rSLwEX4U
Integration Aspects between RPi and Humanoid MAX-E2: https://www.youtube.com/watch?v=bUEz2e15owo
Using RPi0-2W with OpenCM-904 (Part 1): https://www.youtube.com/watch?v=BqshH8X3ac8
Using RPi0-2W with OpenCM-904 (Part 2): https://www.youtube.com/watch?v=QekYpA0D9x0
Hopefully, these materials will be useful for your projects.