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LeKiwi Mobile Manipulator

An SO-101 arm on a Raspberry Pi 5 omniwheel base that learns from your demos · 16 parts · 13 steps · By SIGRobotics UIUC & Hugging Face

Print the base and both arms
Install LeRobot on the laptop and the Pi
Set the IDs: leader, follower and wheels
Build the leader and follower arms
Assemble the three wheel modules
Mount the adapter and the power bank
Fit the Pi, the follower arm and the top plate
Mount and connect the cameras
Power up and calibrate both arms
Drive it: arm by leader, base by keyboard
Record a dataset
Train a policy off the robot
Run the policy on LeKiwi

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LeKiwi Mobile Manipulator

By SIGRobotics UIUC & Hugging Face · Example build · 10 views · 0 remixes

An SO-101 arm on a Raspberry Pi 5 omniwheel base that learns from your demos

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Estimated parts cost

1 of 16 parts priced

Difficulty

Difficult

Build time

10–14 hours plus printing

Parts

16 parts · 33 pcs

Start the assembly guide