LeKiwi
July 15, 2025 · View on GitHub
LeKiwi - Low-Cost Mobile Manipulator | Version 1
Step by step tutorial
Hardware Design
Standardized Stacked Base Plates
- Inspired by the open robotic platform, our base plates have 3.5mm diameter holes spaced 20mm apart for standardized mounting
Power
- (12V version) 12v 5A Li-ion battery
- (5V version) 65W Laptop power bank
Tip
If this is the first time you build robots please choose the 5V version as it’s a little bit easier to assemble. If you are more experienced and want to lift heavier objects choose the 12V version. If you want to cheapest option possible go for the wired LeKiwi version.
Compute
- Raspberry Pi 5
- Streaming to a Laptop
Drive
- 3-wheel Kiwi (holonomic) drive with omni wheels
Robot Arm
Sensors
- Workspace rgb camera
- Wrist rgb camera
Software Capabilities
Goals:
- Teleoperation with controller or laptop WASD + leader arm
- Data collection pipeline
- Streaming joint angles and camera feed
CAD Design
We also provide the URDF exported from CAD for simulation.
Check out our Dynamixel Version!
We converted LeKiwi to use ROBOTIS components by using the Koch v1.1 arm, U2D2 motor controller, and Dynamixel XL430 motors for the mobile base. Dynamixel LeKiwi
Get In Touch!
Join the project on LeRobot's Discord server (channel mobile-so100-arm)! Let us know if you have any questions, suggestions, or other feedback.
Main Contributors
Thank you to everyone who helped on the project!
CAD Design: Manav Chandaka, Bhargav Chandaka, Pepijn Kooijmans
Software: Pepijn Kooijmans, Gloria Wang, Bhargav Chandaka, Advait Patel