SIGRobotics-UIUC/LeKiwi resource

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1393 stars · 154 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

LeKiwi is an open-source, low-cost mobile manipulator robot combining a 3-wheel holonomic drive base with the SO-ARM101 robot arm. It provides hardware designs (CAD, BOM, assembly guides), a URDF for simulation, and software for teleoperation and data collection integrated with LeRobot.

Use cases

• build a low-cost mobile manipulator robot
• teleoperate a mobile robot arm with a controller or keyboard
• collect robot demonstration data for imitation learning
• simulate a mobile manipulator using a URDF
• assemble a 3D-printed robot from a bill of materials
• stream camera feeds and joint angles from a robot

When to choose

• you want an affordable open-source mobile manipulation platform
• you are doing robotics research or learning with LeRobot
• you need a teleoperated robot for data collection

When to avoid

• you need an industrial-grade or high-payload manipulator
• you want a fully assembled commercial robot with support
• you need closed-loop high-precision motion control

Facets

learning-resource · maturity active

robotics simulation developer-tools robotics hardware tutorials python embedded mobile-manipulator open-hardware 3d-printing teleoperation lerobot robot-arm holonomic-drive raspberry-pi data-collection linux

Member repositories

For agents

markdown · JSON · MCP: product_card(name="SIGRobotics-UIUC/LeKiwi")