XLeRobot is a low-cost, open-source dual-arm mobile robot purpose-built for embodied AI experiments and household manipulation tasks. The design keeps the bill-of-materials under **$660** and can be fully assembled in **under four hours**, making it one of the most accessible research-grade mobile manipulators available today. Each arm offers **5 degrees of freedom** (shoulder pan/tilt, elbow, wrist rotate, gripper) driven by low-cost MG996R servos, giving a 300 g payload per arm and a 340 mm reach—enough to open drawers, pick up toys, or water plants. A **Raspberry Pi 4** handles high-level planning while an **ESP32** sub-controller streams servo telemetry at 50 Hz, so you can run reinforcement-learning or imitation-learning loops entirely on-board. The wheeled base (2× 135 RPM TT motors) carries a **3-D-printed torso** that neatly stows a 12 V/7 Ah Li-Po battery for ≈2 h of untethered operation. What sets XLeRobot apart is its **modular, maker-friendly construction**: every plastic part is printable on a200 × 200 mm bed, the servo horns are standard 25-T, and the CAD, firmware, and training notebooks are released under the **MIT license** by creator *Vector Wangel*. The repo includes URDF, MuJoCo, and NVIDIA Isaac Gym assets, so you can sim-to-real migrate policies in an afternoon. A single USB-C cable flashes both micro-controllers; from unboxing to first closed-loop grasp can literally take a weekend, not weeks.
Category: Mobile Robots
## Feature Parts | Part | Qty | ~US Cost | Notes | | --- | --- | --- | --- | | STS3215 Servo (12V) | 17 | $14 ea ($238) | Feetech — drives both arms + base joints | | IKEA RÅSKOG Cart | 1 | $40 | Mobile base frame (3-tier) | | Anker SOLIX C300 Power Station | 1 | $180 | Main 12V power — ~8h untethered runtime | | 4" Omni Wheels | 3 | $10 ea ($30) | Mecanum-capable base drive wheels | | Table Clamp Set (4 pcs) | 1 | $9 | Mounting arm assembly to cart shelf | ## Electronics | Part | Qty | ~US Cost | Notes | | --- | --- | --- | --- | | Feetech Motor Control Board | 2 | $11 ea ($22) | One per servo chain (left arm / right arm) | | Anker USB Hub | 1 | $16 | Connects all USB peripherals to compute | | microSD Card (>=64 GB) | 1 | $11 | OS storage for Raspberry Pi | | USB-C to USB-A Cable (2-pack) | 1 | $9 | Servo board to compute | | USB-C Cable (2-pack) | 1 | $9 | Internal power routing | | Type-C to 12V DC Wire (2-pack) | 2 | $9 ea ($18) | Servo boards powered from SOLIX | | 5264 Servo Extension Wire Set | 1 | $22 | Extends servo signal leads along arm links | ## Sensors | Part | Qty | ~US Cost | Notes | | --- | --- | --- | --- | | Wrist Camera (USB, wide-angle) | 2 | $13 ea ($26) | One per end-effector for manipulation vision | | Logitech C920 Head Camera | 1 | $66 | Primary head-mounted RGB (1080p, included in basic) | ## Optional Upgrades | Part | Qty | ~US Cost | Notes | | --- | --- | --- | --- | | Raspberry Pi 5 (4 GB) | 1 | +$60 | Standalone compute — removes laptop dependency | | Stereo RGB Head Camera | 1 | +$30 | Dual-eye depth estimation without RGBD sensor | | Intel RealSense D415 | 1 | +$220 | Full RGBD head camera for point-cloud perception | ## Assembly Tools (excluded from cost estimate) | Part | Qty | ~US Cost | Notes | | --- | --- | --- | --- | | M3 Screw & Nut Kit | 1 | $15 | General fasteners for all assemblies | | Flush Cutter | 1 | $7 | Trimming 3D print supports cleanly | | Screwdriver Set | 1 | $6 | Assembly of servo horns and brackets |