BAbout this program
AlohaMini — Dual-Arm Mobile Manipulation Platform
A miniaturized Aloha-style dual-arm mobile platform with a motorized vertical lift column. Two SO-ARM101 follower arms sit on a shared lift tower mounted to a three-wheel omni base, giving the platform a tabletop-to-floor reach envelope that makes real household-scale manipulation possible at hobbyist cost.
What makes AlohaMini distinctive
Most DIY bi-manual mobile bases have one big gap: they're too short. An SO-ARM on a fixed 20-cm pedestal can't pick up something on the floor or reach a countertop — the workspace is stuck at one height. AlohaMini solves this with a powered vertical lift that raises both arms together, scanning the full vertical reach of a human workspace.
Paired with:
- Two SO-ARM101 follower arms (leader arms for teleop are also included in the STL set)
- A three-omniwheel kiwi drive base (bearing-mounted axles, printed chassis)
- Seeed Studio XIAO + WaveShare Dynamixel bus driver mounts
- Camera wrist mounts on both arms
What you can do with it
- Imitation learning at floor and table height — record bimanual episodes where the arms need to descend to grab something off the floor, then lift to place it on a surface.
- Mobile bimanual teleop — pair with two leader arms (also in the STL set) to drive both follower arms plus the base from a single operator.
- VLA training data collection — the shared base frame + lift + dual arms is close to the canonical "robot" embodiment used in recent VLA papers (RT-2, OpenVLA).
- Household tasks — clearing a dining table, loading a dishwasher, or picking laundry off the floor — all things a fixed-height arm can't attempt.
Printed parts (this program)
Arms (D_/F_/L_ prefix):
D_Base_SO101_Lekiwi— shared base that ties the arms to the lift/baseD_Upper_arm_SO101,D_Under_arm_SO101— arm link structureD_Rotation_Pitch_SO101,D_Wrist_Roll_Pitch_SO101— joint assembliesF_Follower_Moving_Jaw_SO101— follower gripper jawL_Leader_Handle_SO101,L_Leader_Trigger_SO101— leader arm handle + trigger
Mobile base (OB_ prefix):
OB_Chassis_Side_Panel— side structureOB_Chassis_Servo_Mount— drive servo bracketsOB_Chassis_Bearing_Cover,OB_Chassis_Shaft_Sleeve_12_24— drivetrain hardware
The full repo has ~60 STLs covering the lift column parts, battery tray, and VR controller teleop handles.
Attribution & license
- Designer: Yi-Teng Li (liyiteng)
- Upstream: https://github.com/liyiteng/AlohaMini
- License: Apache 2.0
- Built on: SO-ARM101, LeKiwi base geometry, and the ALOHA/ALOHA2 dual-arm research lineage from Stanford
Links
- Upstream: https://github.com/liyiteng/AlohaMini
- LeRobot: https://github.com/huggingface/lerobot
- ALOHA paper: https://tonyzhaozh.github.io/aloha/
Build Guide
Hardware assembly guide (BOM, wiring, mechanical assembly): github.com/liyiteng/AlohaMini/blob/main/docs/hardware_assembly.md
🖨 Print Files (32)
D_Base_SO101_Lekiwi.stl
D_Under_arm_SO101.stl
D_Upper_arm_SO101.stl
D_Rotation_Pitch_SO101.stl
D_Wrist_Roll_Pitch_SO101.stl
F_Follower_Moving_Jaw_SO101.stl
Required Hardware
| Part | Qty | Notes |
|---|---|---|
| Feetech STS3215-C018 servo (12V 1/345) | 16 | Base (4) + follower arms (12) |
| Feetech STS3215-C046 servo (7.4V 1/147) | 12 | Leader arms (both) |
| Waveshare Bus Servo Controller | 5 | 1 base test + 2 follower + 2 leader |
| Raspberry Pi 5 (≥2GB) | 1 | Main compute |
| USB cameras | 5 | 3 base/top (36×36mm) + 2 wrist/follower (32×32mm) |
| Omni wheels (4") | 3 | Holonomic base drive |
| 12V Li-ion battery (5521) | 2 | One for Pi+base, one for arms |
| 12V → 5V/5A buck converter | 1 | For Raspberry Pi 5 power |
| 3D printed structural parts | ~4 kg PLA | Full body structure incl. lift column |
| Servo extension cable (SCS 3-pin, 90cm) | 2 | Bus extension |
| USB-C cable (braided) | 3 | Base test (1) + follower (2) |