# 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/base - `D_Upper_arm_SO101`, `D_Under_arm_SO101` — arm link structure - `D_Rotation_Pitch_SO101`, `D_Wrist_Roll_Pitch_SO101` — joint assemblies - `F_Follower_Moving_Jaw_SO101` — follower gripper jaw - `L_Leader_Handle_SO101`, `L_Leader_Trigger_SO101` — leader arm handle + trigger **Mobile base (OB_ prefix):** - `OB_Chassis_Side_Panel` — side structure - `OB_Chassis_Servo_Mount` — drive servo brackets - `OB_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](https://github.com/TheRobotStudio/SO-ARM100), [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) base geometry, and the [ALOHA/ALOHA2](https://aloha-2.github.io/) 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/
Category: Mobile Robots
| Part | Qty | Notes | |------|-----|-------| | Servo motors | ~16 | Arm joints (both arms) | | Motor control boards | 2 | One per arm | | Raspberry Pi 5 | 1 | Main compute | | USB cameras | 5 | Top, front, back, dual wrist | | Omni wheels | 3 | Holonomic base drive | | LiPo battery | 2 | Separate for arms and base | | 3D printed structural parts | ~4 kg PLA | Full body structure | | Linear rail + lead screw | 1 | Vertical lift mechanism (0–60 cm range) |