# LeKiwi — Mobile Base for SO-ARM100 LeKiwi is a **three-wheeled omnidirectional mobile base** designed to carry the SO-ARM100 (or its sibling Koch arm) around a real environment. Add a 5-DOF teleop arm on top, put a camera on the base and the wrist, and you have a low-cost **mobile manipulation** platform compatible with the entire [LeRobot](https://github.com/huggingface/lerobot) stack. ## Why "kiwi"? Kiwi drive — three omniwheels at 120° — gives you true holonomic motion: the base can translate in any direction **and** rotate independently, no slewing required. That's huge for teleop demos where a human operator is driving with a joystick and expects the base to move "like a spaceship," not like a car. ## What you get - Three-wheel kiwi drive with omniwheels on custom-printed hubs - Feetech or Dynamixel servo variants (pick your servo ecosystem — both hubs are included) - Raspberry Pi + optional Jetson Orin compute cage printed onto the base plate - Battery compartment sized for standard 3S/4S LiPo packs - Servo-controller mount and base-mounted webcam holder - Mounting pattern on the top plate that drops directly into an SO-ARM100 base ## What you do with it - **Mobile teleoperation**: leader arm drives the follower arm, joystick drives the base. Stream both from a laptop anywhere on the network. - **Mobile imitation learning**: extend LeRobot's episode recorder to include base velocities. The existing Diffusion Policy and ACT models have been adapted by the community to condition on base state. - **Multi-camera observation**: base camera sees the environment, wrist camera sees the task. Both go into the policy. - **Classroom mobile robotics**: cheap, printable, and works with commodity servos. ## Parts ~12 canonical printed parts on the base: - `base_plate_layer1` / `base_plate_layer2` — sandwich plate structure - `drive_motor_mount` — servo bracket, ×3 at 120° - `servo_wheel_hub` — attaches the omniwheel to the servo horn, ×3 - `battery_mount` — LiPo tray - `pi_case_top` / `pi_case_bottom` — Raspberry Pi 5 enclosure - `jetson_holder` — optional Jetson Orin bracket - `servo_controller_mount` — Dynamixel U2D2 / Waveshare bus driver holder - `base_camera_mount`, `wrist_camera_mount` — webcam rigs - `modified_base_arm` — replacement SO-ARM100 base shim that lets the arm sit flush on the base plate ## Attribution & license - Designer: **SIGRobotics-UIUC** (Student Interest Group on Robotics, University of Illinois Urbana-Champaign) - Upstream: https://github.com/SIGRobotics-UIUC/LeKiwi - License: **Apache 2.0** - Ecosystem: [LeRobot](https://github.com/huggingface/lerobot) ## Links - Upstream repo: https://github.com/SIGRobotics-UIUC/LeKiwi - SO-ARM100 (arm to mount on top): https://github.com/TheRobotStudio/SO-ARM100 - LeRobot stack: https://github.com/huggingface/lerobot
Category: Mobile Robots
| Qty | Part | Notes | |-----|------|-------| | 2 | Servo motor (MG996R) | Main actuators | | 1 | Raspberry Pi