The SO-ARM101 is an open-source, 3D-printed robotic arm designed for embodied intelligence research. Hardware optimizations address issues like servo power and structural jams, enabling a focus on AI algorithm development. Unlike standard robotic arms, the SO-ARM101 is designed with learning at its core. It can be trained using techniques like imitation learning and reinforcement learning to perform tasks such as object manipulation and motion replication. The entire system—from hardware to software and algorithms—is fully open-source.
Unassembled DIY Robotics Kit
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What is the Hugging Face LeRobot?Hugging Face LeRobot is an open-source robotic ecosystem that includes a Python library and model-sharing platform. It offers tools, datasets, and pre-trained models to help developers, students, and enthusiasts apply technologies like imitation learning and reinforcement learning in robot development. |
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Applications
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Academic ResearchIdeal for teaching experiments and research in fields such as robotics, artificial intelligence, and automation. |
Developers/Tech EnthusiastsUsed for algorithm development, product prototyping, and participating in robotics competitions. |
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Educational InstitutionsAn ideal teaching tool for advanced courses like AI programming. |
Experienced Hobbyists
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Community Inspiration
Walk through the whole dev journey with Nikodem Bartnik, using SO-ARM101 to showcase: from hardware assembly and servo control, to training a custom policy and achieving real-time block-picking inference. Follow his hands-on experience to understand every step, troubleshoot potential issues, and explore what’s possible with this open-source robotic arm.
Step-by-Step Assembly Instructions
The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however, uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in the table below.
| Leader-Arm Axis | Motor | Gear Ratio |
|---|---|---|
| Base / Shoulder Pan | 1 | 1 / 191 |
| Shoulder Lift | 2 | 1 / 345 |
| Elbow Flex | 3 | 1 / 191 |
| Wrist Flex | 4 | 1 / 147 |
| Wrist Roll | 5 | 1 / 147 |
| Gripper | 6 | 1 / 147 |
To install LeRobot, follow the Installation Guide.
Resources
| LeRobot Documentation | Link |
| LeRobot Installation Guide | Link |
| TheRobotStudio GitHub | Link |
| Getting started with real-world robots | Tutorial |
Parts List
| 3D Printed Parts | |
| STS3215 Servo 7.4V, 1/345 gear (C001) - LERO0002 | x7 |
| STS3215 Servo 7.4V, 1/191 gear (C044) - LERO0003 | x2 |
| STS3215 Servo 7.4V, 1/147 gear (C046) - LERO0004 | x3 |
| Motor Control Board - WVSH0166 | x2 |
| Type C to Type C Cable (2 Meter) - ELC7061-W20 |
x2 |
| Power Supply - 5V 6A - LERO0005 | x2 |
| Table Clamp - LERO0006 | x4 |
Camera Not Included
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Custom Requirements?
Discussion Forum
Feel free to ask questions, share tips or report issues.
