XLeRobot Dual-Arm Mobile Home Robot

XLeRobot is a low-cost (~$660) open-source dual-arm mobile manipulator built on LeRobot + 2× SO-101 arms mounted on an IKEA RÅSKOG utility cart. Designed for household manipulation tasks and embodied AI research, it can be fully assembled in under 4 hours. By Gaotian (Vector Wang). MIT license.

Source: github.com/Vector-Wangel/XLeRobot · Docs (v0.3.0)

Capabilities

• Dual 5-DOF SO-101 arms with 17× STS3215 (12 V, 30 kg·cm) servos — ~40 cm reach, ~600–1000 g payload per arm
• Omni-wheel holonomic base (Lekiwi-style with 3× VEX 4" omni wheels)
• Compute: laptop primary; Raspberry Pi optional (+$79, not required)
• LeRobot plug-and-play: supports VLA models, datasets, sim2real (MuJoCo / Maniskill URDFs)
• Teleop: keyboard, Xbox/Switch Joycon controller, or VR
• Power: Anker SOLIX C300 portable power station

Printing

The Print All set is the curated v0.3.0 build of one robot: two SO-101-derived arms on a wheeled IKEA-cart base with a single head camera. Where the upstream CAD ships several alternates, this set keeps one canonical choice each; the alternates are listed at the end if you need them.

Arm parts (SO-101 derived) — print x2 (one per arm):

• Base, Base_Motor, Fixed_Jaw, Fixed_Jaw_Motor, Moving_Jaw, Ender_Follower_SO101, SO101_soft_fin (TPU95A for the finray fingers)

Mobile base / drive:

• XLeRobot-0-3-0-new-wheel-connector (v0.3.0 base connector)
• 035wheel — VEX-style OMNI wheel (matches BOM); print x4 (one per drive wheel)
• Brushlessmotor-connector — print x4
• 3_8-Hex-Bore-Plastic-VersaHub-217-5828-v2 — wheel hub; print x3
• 94868A713_NO-THREADS_Female-Threaded-Hex-Standoff — print x4

Head camera (pick to match your camera):

• Gimbal_mesh_all_d435 — for Intel RealSense D435 (default here)

Not in Print All (alternates — add manually only if needed):

• Camera: Gimbal_mesh_all_d455 (RealSense D455 instead of D435).
• Drive: mecanum_wheel_motor_coupling (mecanum wheels instead of the BOM's OMNI wheels).
• Design revisions: XLeRobot_0_4_0_extra (0.4.0 dual-wheel/versatile arm base), XLeRobot_035_armbase, Base_08q-v1.

Print quantities above replace the duplicate vendor files that were previously listed once per copy.

Gotchas

• Not designed for in-hand dexterity, lifts over 1 kg per arm, or dynamic motion
• Fixed height (IKEA RÅSKOG cart defines the base — no height adjustment)
• Upgrade path from existing SO-101 + Lekiwi for ~$250 extra (no motor-ID changes needed)
• Assembly kit available from Wowrobo (~$579, excludes Anker battery and IKEA cart)

Attribution

Creator: Gaotian / Vector Wang License: MIT Built on: LeRobot · SO-101 · Lekiwi · Bambot ecosystems

Build Guide

Full documentation, assembly instructions, and BOM: xlerobot.readthedocs.io