SIGRobotics-UIUC/LeKiwi

LeKiwi - Low-Cost Mobile Manipulator

What it solves

LeKiwi is a low-cost mobile manipulator designed to provide an accessible entry point for robotics research and development. It combines a mobile holonomic base with a robotic arm to create a versatile platform for testing AI-driven manipulation tasks.

How it works

The robot uses a 3-wheel Kiwi (holonomic) drive with omni wheels for movement, allowing it to move in any direction. For manipulation, it integrates the SO-ARM101 robotic arm. The system is powered by either a 12V Li-ion battery or a 5V laptop power bank, and is controlled by a Raspberry Pi 5. It captures environment data via a workspace RGB camera and a wrist-mounted RGB camera.

Who it’s for

It is designed for researchers, students, and robotics enthusiasts who want a budget-friendly mobile manipulator that is supports data collection and teleoperation.

Highlights

  • Standardized Design: Uses base plates with a 20mm hole spacing for easy mounting of components.
  • Open Hardware: Provides full Fusion 360 CAD files and URDF for simulation.
  • Flexible Power Options: Offers 5V, 12V, and wired versions to suit different skill levels and lifting capacities.
  • LeRobot Integration: Integrated with the Hugging Face LeRobot ecosystem for data collection and software capabilities.

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