LeKiwi Mobile Manipulator

1,258 stars on GitHub.

LeKiwi is a low-cost open-source mobile manipulator developed at the University of Illinois Urbana-Champaign as part of the LeRobot ecosystem. It combines a three-omniwheel holonomic base with an SO-100/SO-101 robot arm to create an affordable, fully capable mobile manipulation platform for AI and robotics research.

Source: https://github.com/SIGRobotics-UIUC/LeKiwi

The omnidirectional base uses three servo-driven omni wheels arranged 120° apart, enabling full holonomic motion — the robot can translate in any direction or rotate in place without realigning. The base plate mounts a Raspberry Pi, servo controller, battery, and camera, with all structural parts fully 3D-printable.

The 12-part printable set covers the base assembly (base_plate_layer1, base_plate_layer2), motor and drive components (drive_motor_mount_v2, servo_wheel_hub), mounting hardware (battery_mount, servo_controller_mount, jetson_holder), a computing platform case (pi_case_bottom, pi_case_top), and camera mounts (base_camera_mount, wrist_camera_mount, modified_base_arm for arm integration).

The arm uses Feetech STS3215 serial bus servos for the 5-DOF + gripper manipulation chain, matching the SO-100/SO-101 hardware used in the LeRobot community. LeKiwi is fully compatible with the HuggingFace LeRobot library and supports imitation learning and sim-to-real transfer out of the box.

License: Apache 2.0.