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As far as I know, the demo for OpenManipulator Friend is mainly designed for OpenCR controller only, therefore you might be required porting the code to your own controller or you should be able to make your own Kinemetic / Inverse Kinemetic solution on your board.
- I found an interesting blog for your reference - Stewart Platform Head Massager – David McDaid Electronics – Built Stewart with AX-12 and Arduino Mega 2560
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MKR can be good option for use of DYNAMIXELs, but if you are not in hurry, one of options I suggest is to use OpenRB-150 which is the future releasing board by ROBOTIS (Not for sale now). See one the eye-catching posting “First look at OpenRB-150” posted by one of the greates user @roboteer in this community.
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Although I am not sure this gurantees OpenCR Demo pacakage integration to the OpenRB-150, but if you are looking for reasnoble price board for Arduino, this would give you the best solution to use of DYNAMIXEL.
Thanks,