SO-101 vs Koch v1.1
LeRobot leader-follower arms
SO-101 is an open-source 6-DoF robot arm under the Apache-2.0 hardware license, published at $121.94 (source total, follower arm only). Koch v1.1 is an open-source 6-DoF robot arm under the Apache-2.0 hardware license, published at $477 (source total, leader and follower arms). Reproducibility scores: Koch v1.1 89 and SO-101 83 of 100. SO-101 publishes URDF; Koch v1.1 publishes no simulation model. Koch v1.1 is dormant.
Drawn to scale
The robots side by side at their true relative size, as their source models are posed.
Side by side
Every figure is read from each robot's record, with its source; a cost keeps the currency the source states and its basis.
| Criterion | SO-101robot arm | Koch v1.1robot arm |
|---|---|---|
| Published cost | $121.94source total, follower arm onlysource | $477source total, leader and follower armssource |
| Degrees of freedom | 6arm 5, gripper 1source | 6arm 5, gripper 1source |
| Type | ManipulatorSerial arm, Leader-follower pair | ManipulatorSerial arm, Leader-follower pair |
| Actuators in the BOM |
| |
| Boards in the BOM | None of the tracked parts in its BOM | None of the tracked parts in its BOM |
| Simulation models |
| None published |
| Hardware license | Apache-2.0Commercial use OKsource | Apache-2.0Commercial use OKsource |
| Lifecycle | Activesource | Dormantsource |
| Reproducibility | 83/100Strong source coverage, unverified | 89/100Strong source coverage, unverified |
| CAD / mesh present | met20/20 | met20/20 |
| BOM evidence | met20/20 | met20/20 |
| Wiring diagram | partial7.5/15 | met15/15 |
| Firmware linked | met10/10 | met10/10 |
| Build instructions | met15/15 | met15/15 |
| OSHW-compatible license | met10/10 | met10/10 |
| Known reproductions | missing0/10 | missing0/10 |
| Build time | Not published | Not published |
| Model size | 430 × 268 × 111 mmwidth × height × depth, as modelled | 536 × 311 × 292 mmwidth × height × depth, as modelled |
| Source | TheRobotStudio/SO-ARM100 | jess-moss/koch-v1-1 |