Feetech Family
April 9, 2026 · View on GitHub
Welcome to LeRobotDepot. This repository is listing open-source hardware, components, and 3D-printable projects compatible with the LeRobot library. It helps users easily discover, build, and contribute to affordable, accessible robotics solutions powered by state-of-the-art AI.
Table of Contents
Feetech Family
Hardware in this family uses Feetech motors—primarily the STS3215 series (7.4V and 12V variants), plus a higher-torque drop-in option (STS3250). These motors are popular for their balance between performance and cost. (Note: all listed servos share the same external dimensions.)
-
STS3215 (7.4V): Typically offers a stall torque of approximately 16.5 kg·cm at 6V. This option is often sufficient for basic robotics applications.
Est. unit price: ~$14 / ~€12 / ~¥96 (RMB) -
STS3215 (12V): Delivers around 30 kg·cm of stall torque, providing increased power for more demanding tasks.
Est. unit price: ~$16.5 / ~€14 / ~¥110 (RMB) -
STS3250 (12V): Same form factor, but delivers around 50 kg·cm of stall torque for higher-load joints and heavier end-effectors.
Est. unit price: ~$55 / ~€46.5 / ~¥380 (RMB)
Prices are rough single-unit estimates (excluding shipping/taxes) and may vary by reseller and region.
By standardizing on this Feetech form factor, projects in the Feetech Family maintain similar power and control characteristics, ensuring compatibility across accessories and modules.
Robot Arms:
SO-100 & SO-101 Arms
This 5 DOF arm is the recommended arm to get started with LeRobot—especially the 7.4V version.
| Price | US | EU | RMB |
|---|---|---|---|
| Follower and Leader arms | $230 | €226 | ￥1343 |
| One Arm | $122 | €124 | ￥682 |
Accessories
For detailed information on the various accessories available for the SO-ARM100, including mounting options and additional components, please refer to the SO-ARM100 repository’s hardware documentation.
Wrist Cameras
The SO-ARM100 supports multiple wrist camera options to suit a variety of applications. There are three officially supported options and one community-developed alternative:
| Camera Name | Reference Link | Notes |
|---|---|---|
| Vinmooog Webcam | SO-ARM100 Instructions | |
| 32x32mm UVC Module | SO-ARM100 Instructions | |
| Arducam 5MP Wide Angle | Le Kiwi STL File | It can also be used with 32x32mm UVC modules, but if you don't use a wide-angle camera, the gripper will not appear in the camera view. |
| RealSense™ D405 | SO-ARM100 Instructions | |
| RealSense™ D435 | SO-ARM100 Instructions | You can also use this mount with a Vinmooog camera using the included adapter. |
Haptic Sensors
Others
Kits
You can find kits for the SO100 arms here:
- partabot: Also include LeKiwi and Aloha Mini.
- Seeed Studio: Also include LeKiwi.
- WOWROBO: Also include Koch V1.1 and XLeRobot.
- Phospho: Also include Open Duck Mini.
- Autodiscovery
Both assembled and non-assembled kits are available, depending on the supplier.
jess-moss/moss-robot-arms
This 5 DOF arm is similar to the SO-ARM100 but uses only the gripper as a 3D printed part. It is recommended to build or purchase the SO100 arm instead. While the Moss v1 robot is still supported, it will be deprecated. Additionally, 3D-printed parts for the SO-ARM100 are now available for purchase if you don't have a printer.
| Price | US | EU | RMB |
|---|---|---|---|
| Follower and Leader arms | $288 | €274 | ￥1631.46 |
| One Arm | $159 | €153 | ￥868.13 |
Accessories
See SO-ARM100 Accessories for compatible components and mounts.
ajinkyagorad/SO-ARM107
This is a 6 DOF arm, based on the SO-ARM100 leader and follower arms, with an additional joint enabled by one more STS3215 servo motor.
Price
The price is roughly equivalent to the SO-ARM100, plus the cost of one extra Feetech servo motor—either 7.4V or 12V, depending on your chosen configuration.
Accessories
For wrist cameras, haptic sensors, and other modules, see SO-ARM100 Accessories for compatible components.
norma-core/ElRobot
This is a 7 DOF arm. While it is not officially supported by the LeRobot library, since it uses only STS3215 servo motors, it should be easy to set up with LeRobot.
Price
| Price | US |
|---|---|
| Follower arm | ± $220 |
| Leader arm | ± $220 |
SAM arm
This is a 6 DOF arm, developed by the community around the SimpleAutomation repository. It is a refined version of the SO-ARM100, offering enhanced movement precision and a gripper better optimized for handling small objects.
| Price | US |
|---|---|
| Follower and Leader arms | ± $450 |
nomorewzx/PingTi-Arm
A Low-Cost Robotic Arm with Human Arm Length.
| Price | US | EU |
|---|---|---|
| PingTi Follower arm | ± $261 | ± €218 |
| SO100 Leader Arm | ± $127 | ± €128 |
Bi-manual Arms
Mr-C4T/AB-SO-BOT
AB-SO-BOT is built using a combination of 3D-printed parts and standard 4040 T-slot aluminium extrusions to create a customizable and modular body for the SO-ARM100.
Mobile Arms
SIGRobotics-UIUC/LeKiwi
Mobile version of the SO-ARM100.
| Price | US | EU |
|---|---|---|
| 12V | $488.21 | €542.56 |
| 5V | $524.95 | €525.9 |
| Base only (5V) | $251.95 | €306.9 |
| Base only (12V) | $257.43 | €305 |
| Base only wired | $174 | €233.3 |
Mobile Bi-manual Arms
liyiteng/AlohaMini
Mobile version of the SO-ARM100 with two arms on a motorized vertical lift.
| Price | US |
|---|---|
| Total | ~ $600 |
Vector-Wangel/XLeRobot
Practical low-cost dual-arm mobile home robot, built on top of the LeKiwi base and SO101 arms.
| Price (buy parts yourself) | US | EU | RMB |
|---|---|---|---|
| Basic (use your laptop, single RGB cam) | ~$660 | ~€680 | ~¥3999 |
Kits
- Developer assembly kit available via WOWROBO.
- See the project documentation for the latest kit details: https://xlerobot.readthedocs.io/
timqian/bambot
Mobile version of the SO-ARM100 with two arms.
| Price | US | EU | RMB |
|---|---|---|---|
| Total | ~ $300 | ~ €300 | ~ ￥2000 |
Bipedal Robots
apirrone/Open_Duck_Mini
Miniature version of the BDX Droid by Disney.
Price
~€410
Humanoid Robots
TheRobotStudio/HOPEJr
A project for a full body robot—currently featuring the torso and arms.
Grippers & Accessories
pollen-robotics/PincOpen
Parallel-finger gripper compatible with SO-ARM.
Price:
~€25
SiegeLord/Symmetrical Gripper
Symmetrical gripper compatible with SO-ARM.
Chojins/LeRobot-S0-100-Models
Precise gripper compatible with SO-ARM.
jackvial/assembler0
A screwdriver attachment and camera mount for the SO-ARM.
ggao50/SO101-Parallel-Gripper
Parallel Gripper with camera holder compatible with SO-ARM.
norma-core/pgripper
Made by the same team behind ElRobot, this parallel gripper with a camera holder is compatible with ElRobot and should also be compatible with other Feedtech SO-ARM models.
SO-ARM Compliant Gripper
Compliant gripper printed out of a flexible material (TPU) compatible with SO-ARM.
XLeRobot Compliant Gripper
Printed with TPU 95A for the finger and PLA for the base. Better structure and better grasp (both precision and power). No need to print support for the TPU finger. Requires 2 additional M3 screws, optional 3M gripper tape for higher friction.
roboninecom/SO-ARM100-101-Parallel-Gripper
Parallel gripper with camera holder compatible with SO-ARM100/SO-ARM101. 150N gripping force, 76mm stroke, 0.1mm repeatability. Supports RealSense, Orbbec, and USB cameras. Video demo.
Price:
~$70
Track axis
avenhaus/SO-ARM100-Track-Axis
It provides an additional axis to the SO-ARM100 robot arm.
Camera arms
open-thought/cambot
6-DOF camera arm for stereo vision, compatible with a ZED Mini stereo camera. Includes a VR teleop system using WebXR for real-time head tracking from any compatible VR headset (tested with Meta Quest 3).
Price:
~€110 (without camera)
Dynamixel Family
Hardware in this family uses Dynamixel servo motors, which are considered more of an industry standard than Feetech motors.
Robot Arms:
jess-moss/koch-v1-1
The Koch-v1-1 is a 5 DOF robotic arm. If you want to familiarise yourself with more industry standard Dynamixel servo motors, this project could be a good starting point. Compared to the SO-ARM100, you will have less torque and a more limited range of movement from its base.
| Price | US | EU | UK | RMB | JPY |
|---|---|---|---|---|---|
| Follower and Leader arms | $477 | €673 | £507 | ¥3947 | ¥22439 |
| Leader Arm | $278 | €368 | £285 | ¥2251 | ¥15446 |
| Follower Arm | $199 | €305 | £222 | ¥1696 | ¥6993 |
Accessories
Wrist Cameras
The Koch-v1-1 supports 2 wrist camera options:
| Camera Name | Reference Link | Notes |
|---|---|---|
| SVPRO 1080P | Discord Message with STL file | |
| N/A | WOWROBO Gripper-Camera Kit | Kit including the gripper, the camera mount and the camera |
Haptic Sensors
Kits
- WOWROBO Twinarm: Robotic arm inspired by Koch V1.1.
- robotis.us: Include Leader/Follower of Koch V1.1 and the Dynamixel version of LeKiwi.
robotis/omx
The OMX is a 5-DOF robotic arm. All motor parameters are preconfigured at the factory, no hardware or software setup is required. Every DYNAMIXEL actuator is factory-calibrated, so users never need to perform calibration themselves. The base motor uses an extended-position design, providing full 360° rotation.
| Price | US |
|---|---|
| Leader and Follower Arm Kits | $250 |
| Full Leader and Follower Arm | $299 |
Kits
Bi-manual Arms:
ALOHA 2
ALOHA 2 is a bimanual teleoperation system that uses two types of arms—a pair of smaller, ergonomically designed leader arms and two robust follower arms—to support coordinated dual-arm manipulation. Each arm offers 6 degrees of freedom (6 DOF), which provides an extensive range of motion for accessing various positions and orientations.
The system is designed for research in fine-grained bimanual manipulation. Its construction includes enhanced gripper mechanisms, a passive gravity compensation system, and a rigid frame that supports precise and repeatable operations for complex tasks. These advanced features and components are reflected in its higher cost compared to more basic robotic arm solutions.
Price
~$27,000
Kits
Mobile Arms
SIGRobotics-UIUC/LeKiwi
Converted version of LeKiwi to use ROBOTIS components by using the Koch v1.1 arm, U2D2 motor controller, and Dynamixel XL430 motors for the mobile base.
Accessories
jackvial/koch_robotic_arm_screwdriver
A screwdriver attachment (mounted on Dynamixel XL330-M288-T) and camera mount for the Koch robotic arm.
Common Accessories & Add-ons
Task kits
cgreer/robot-task-kit
- "T" for push T task.
- A "toaster" with 2 pieces of "toast".
- A paper towel base & rod + paper towel roll.
- Cube.
- Ring.
Hugging Face rectangular prism
Other
Self-Fusing Silicone Rubber
To increase friction on gripper.
Foam Tape
Alternative to silicone rubber for increasing friction. You can add screws to avoid losing the foam tips.
Teleoperation
max-titov/finger-tracker
Hardware that attaches to the back of your hand and fingertips that tracks 16 degrees of freedom. Compatible with HOPEJr hands.
Cameras
| Name | Price Range | Link | Resolution | FPS | Wide Angle | Microphone |
|---|---|---|---|---|---|---|
| Innomaker 1080P USB2.0 | ± $18, €16 | Innomaker Link | 1920×1080 | 30 | Fov(D) = 130° Fov(H) = 103° | No |
| Innomaker 720p USB2.0 | ± $10, €14 | Innomaker Link | 1280×720 | 30 | FOV (D) = 120° FOV (H) = 102° | No |
| Innomaker OV9281 USB 2.0 | ± $36, €42 | Innomaker Link | 1280×800 | 120 | FOV Up to 148° | No |
| Vinmooog Webcam | ± $14, €12 | Amazon Link | 1920×1080 | N/A | N/A | Yes |
Others
- https://www.amazon.co.uk/ELP-Conferencing-Fisheye-0-01Lux-Computer/dp/B08Y1KY5T9?th=1
- https://www.amazon.com/dp/B07CSJN2KH
Contributing
Interested in contributing? Please take a moment to review our CONTRIBUTING.md for guidelines on how to get started.