AlohaMini Dual-Arm Mobile

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

~60 STLs — dual SO-ARM101 arms (follower grippers + leader handles), motorized lift column, 3-omniwheel base, battery tray, VR teleop handles; see Print Files.

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

Printing

This is one complete dual-arm mobile platform: two SO-ARM101 follower arms + two leader arms (for teleop) on a shared lift column over a 3-omniwheel base. The 20 STLs use a role-prefix naming scheme, and most are printed in multiples — printing one of each gives only a fraction of a build. Quantities below are per platform:

D_ — shared SO-ARM101 arm parts (print 4× each: 2 followers + 2 leaders):

• D_Base_SO101_Lekiwi, D_Base_motor_holder_SO101, D_Motor_holder_SO101_Base, D_Motor_holder_SO101_Wrist, D_Rotation_Pitch_SO101, D_Under_arm_SO101, D_Upper_arm_SO101, D_Wrist_Roll_Pitch_SO101, D_Wrist_Roll_SO101

  These are the common arm-segment parts every SO-ARM101 needs, so each is printed ×4 (one per arm). The two controller-mount plates are an either/or per your electronics: D_Seeedstudio_Mounting_Plate (Seeed XIAO) vs D_WaveShare_Mounting_Plate (WaveShare bus driver) — print whichever board(s) you use, ×4 if used on all arms.

F_ — follower-only parts (print 2×: one per follower arm):

• F_Follower_Moving_Jaw_SO101, F_Follower_Wrist_Roll_Follower_SO101, F_Follower_SO-ARM101_camera_wrist_mount

L_ — leader-only parts (print 2×: one per leader/teleop handle):

• L_Leader_Handle_SO101, L_Leader_Trigger_SO101

OB_ — omni-base (kiwi drive, 3 wheels):

• OB_Chassis_Servo_Mount ×3, OB_Chassis_Bearing_Cover ×3, OB_Chassis_Shaft_Sleeve_12_24 ×3 (one set per omni wheel)
• OB_Chassis_Side_Panel ×2–3 (chassis sides — match to your frame)

So the 20 unique STLs expand to roughly ~60 physical prints (≈4 kg PLA per the BOM). Servo count: 16× STS3215-C018 (4 base + 12 follower arms) and 12× STS3215-C046 (leader arms). Leader and follower parts are both required for teleop data collection — they are not alternates. Note: the lift-column structural parts referenced in the build guide are large and may be cut/printed per the upstream hardware folder; this Print All set covers the arm, gripper, base and teleop-handle parts.