LeKiwi

LeKiwi 移动底盘机械臂Advanced

An open-source low-cost mobile manipulator combining a three-omni-wheel base with an SO-101 arm.

LeKiwi was open-sourced in early 2025 by SIGRobotics, a student club at the University of Illinois Urbana-Champaign, and is now officially supported by Hugging Face's LeRobot. Its base uses three omnidirectional wheels arranged 120° apart — a so-called Kiwi drive — which lets it translate and rotate in any direction on the spot; an SO-101 (or SO-100) robot arm sits on top of the base. Both the base and the arm use Feetech STS3215 servos, a Raspberry Pi 5 serves as the onboard computer, and there's one camera on the base and another on the wrist. The whole platform is built from 3D-printed parts and off-the-shelf components, which lets individuals and students do mobile-manipulation teleoperation data collection and imitation learning at very low cost.

ExampleSomeone teleoperates LeKiwi with an SO-101 leader arm and a keyboard to drive it to a table and pick up a sock, then trains a policy on the recorded data with LeRobot.

Related: LeRobot · SO-100 / SO-101 Arm · Mobile Manipulation · Omni Wheel · XLeRobot · Feetech STS3215 Servo
Sources: GitHub - SIGRobotics-UIUC/LeKiwi: Low-Cost Mobile Manipulator
Upgrading the LeKiwi into a LiDAR-equipped explorer | Foxglove
As of: 2025