AlohaMini open-source 18-DoF mobile manipulator, 3D render from alohamini2.urdf

AlohaMini

AlohaMini2: dual 6+1 DoF arms on a motorized lift over a 3-omni-wheel printed base.

Start the build

What it is

AlohaMini is Li Yiteng and Wu Zhiyong's open dual-arm mobile robot; the current AlohaMini2 (released 2026-06-06) puts two 6+1 DoF AM-ARM200 follower arms on a motorized vertical lift over a three-omni-wheel 3D-printed base, with five USB cameras and a Raspberry Pi 5. AlohaMini1, with SO-ARM100/101 arms and a base that needs a large-format printer, stays in the same repo. The repo holds STEP and STL files for the AlohaMini2 base and lift, URDFs for AlohaMini2 and 2 Pro, a BOM and print and assembly guides; the arm CAD lives in liyiteng/AM-ARM and the LeRobot-based software in liyiteng/lerobot_alohamini, all Apache-2.0. Upstream says the self-build BOM stays under $1,000 (README estimate ~$950 without the leader arms), while the full BOM.md estimate with leader arms is ~$1,097, filament excluded.

Licenses

Hardware
Apache-2.0
Software
Apache-2.0
Docs
Not published

Degrees of freedom

18 DoF arm 12lift 1wheels 3gripper 2

Breakdown source

Mobile manipulatorBimanualHolonomic baseOmni wheelsVertical liftLeader-follower pairsource

Auto-assembled, not yet reviewed

Source record

Sources
1.1k stars, last push 2026-07-01
HW license
Apache-2.0
Cost
$950estimate, AlohaMini2 major components per the README BOM table, leader arms excluded; upstream wording 'keeping the self-build BOM under $1,000'. The full AlohaMini2/docs/BOM.md estimate is ~1,097 USD (CNY 7,548) self-print including leader arms (~277 USD), filament not included
Lifecycle
Active
Engine
v3.1.1
Checked
Model
alohamini2.urdf@17c6a98rendered 2026-10-02
Envelope
531 × 1126 × 649 mmas modelled, in a presentation pose

Maintain AlohaMini? Claim this page to correct it.

Parts and cost

23 rows

Cost to build

$950USDestimate
  • AlohaMini2 major components per the README BOM table, leader arms excluded; upstream wording 'keeping the self-build BOM under $1,000'. The full AlohaMini2/docs/BOM.md estimate is ~1,097 USD (CNY 7,548) self-print including leader arms (~277 USD), filament not included$950estimate

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

AlohaMini parts, as the source lists them. Prices are the source's, not checked against vendors.

AlohaMini bill of materials
PartQtySpecSourceConfidence
Servo, STS-3215 (wheel)Mobile base: three omni-wheel drive servos
3ST-3215-C018, 12V, 1/345 gear
Alibaba$15.97 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 16
high
Servo, STS-3095 (lift)Mobile base: vertical lift servo
1ST-3095-C002, 12V, 95 kg·cm
Alibaba$50.37liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 17
high
Omni wheelMobile base
3127 mm (74A)
omniawheel.com$40 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 18
high
Aluminum extrusion (T-frame)Mobile base; a printed substitute (O_T_Connector_Cross_Bar.stl) is allowed but weaker
120x40x2 mm, L=400 mm
not listed in source BOM~$1.50liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 19
high
Bearing, lift trackMobile base; pressed into the shoulder lift block
84x13x5 mm
Amazon~$0.40 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 22
high
Bearing, chassis/arm/liftMobile base
812x18x4 mm
Amazon~$0.80 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 23
high
Camera, frontMobile base
1H65V1, 720p, 2.4 mm, 1 m cable
Amazon~$17liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 24
high
Camera, backMobile base
1H65V1, 720p, 2.4 mm, 1 m cable
Amazon~$17liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 25
high
Camera, chestMobile base
1H65V1, 720p, 2.4 mm, 2 m cable
Amazon~$17liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 26
high
Raspberry Pi 5Mobile base compute (host); upstream says any SBC with USB 3.0, such as a Jetson Orin Nano, can replace it
12 GB RAM
Adafruit~$93liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 27
high
DC buck converterMobile base; battery 2 to the Raspberry Pi
112V to 5V 5A (PD protocol)
Amazon~$9liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 28
high
microSD cardMobile base
132 GB
Amazon~$14liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 30
high
Bus servo controllerMobile base
1Waveshare Bus Servo Adapter A
Waveshare$5.00liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 32
high
Battery 12VMobile base; one pack for the arms, one for compute
211200 mAh, DC 5521
Amazon~$16 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 33
high
Servo, STS-3215 (follower arms)Follower arms (x2), AM-ARM200
8ST-3215-C018, 12V, 1/345 gear
Alibaba$15.97 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 47
high
Servo, STS-3095 (follower arms)Follower arms (x2), AM-ARM200 power joints
6ST-3095-C002, 12V, 95 kg·cm
Alibaba$50.37 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 48
high
Camera, wristFollower arms
2H65V1, 720p, 2.4 mm, 2 m cable
Amazon~$17 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 52
high
Bus servo controller (follower arms)Follower arms
2Waveshare Bus Servo Adapter A
Waveshare$5.00 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 53
high
Servo, STS-3215 (leader arms)Leader arms (x2) for teleoperation; not part of the README ~$950 figure
14ST-3215-C046, 7.4V, 1/147 gear
Alibaba$15.97 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 63
high
Bus servo controller (leader arms)Leader arms
2Waveshare
Amazon$12.47 eachliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 65
high
Power supply 5VLeader arms
1DC 5V AC adapter
Amazon$12.99liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 66
high
Epoxy adhesiveFasteners and consumables; bonds chassis segments, tower posts and the shoulder T-frame. Screws, heat-set inserts, pins and small cables are listed upstream
1Loctite E-120HP 50 mL
Amazon~$10liyiteng/AlohaMini AlohaMini2/docs/BOM.md line 80
high
3D-printed partsBase, lift tower and camera mounts from AlohaMini2/hardware/mobile_base2; arm parts from liyiteng/AM-ARM; filament not in the BOM.md totals
1PLA/PETG/ABS on a Bambu P2S; README cites ~6 kg filament, BOM.md base row ~4 kg
3D print yourselfnot included in source totalliyiteng/AlohaMini AlohaMini2/docs/BOM.md line 37
high

Rows from the source's own parts list 55

AlohaMini2/docs/BOM.md@17c6a98markdown

Source rowQtyPrice and vendorLine
Servo, STS-3215 (wheel)
3
AlibabaTaobaono price listed
L16
Servo, STS-3095 (lift)
1
AlibabaTaobaono price listed
L17
Omni wheel
3
omniawheel.comTaobaono price listed
L18
Aluminum extrusion (T-frame)
1
vendor not listedno price listed
L19
Steel pin (chassis)
3
Taobaoe.tb.cnno price listed
L20
Steel pin (lift axis)
1
Taobaoe.tb.cnno price listed
L21
Bearing, lift track
8
Taobaoitem.taobao.comno price listed
L22
Bearing, chassis/arm/lift
8
AmazonTmallno price listed
L23

39 more rows in AlohaMini2/docs/BOM.md

README.md@17c6a98markdown

Source rowQtyPrice and vendorLine
Servo, standard
11
vendor not listed~$16
L57
Servo, high-torque
7
vendor not listed~$50
L58
Bus servo controllers
2
vendor not listed~$5
L59
Compute
1
vendor not listed~$93
L60
Cameras
5
vendor not listed~$17
L61
Omni wheels
3
vendor not listed~$40
L62
Battery 12V
2
vendor not listed~$16
L63
Frame
-
vendor not listed~6 kg filament
L64

How to build

6 steps

Upstream step marks a step taken from the linked guide.

  1. Print the base parts

    Print the mobile_base2 STL parts on a Bambu P2S-class printer in PLA, PETG or ABS, with 4-6 wall loops (6 on load-bearing parts) and 15-25% infill. Use the print-optimized chassis segment; printed pins and T-frame substitutes work but are much weaker than the metal parts.

    Upstream stepgithub.com/liyiteng/AlohaMini/blob/17c6a98d79881a45ab869c1f3...

  2. Build the arms and set base servo IDs

    Build the follower and leader arms with the AM-ARM200 assembly guide. Assign the base servo IDs one at a time before installing them (wheels 10, 9 and 8, lift 11) with the lerobot_alohamini motor tool or the Feetech FD tool at 1000000 baud.

    Upstream stepgithub.com/liyiteng/AlohaMini/blob/17c6a98d79881a45ab869c1f3...

  3. Build the chassis and omni wheels

    Epoxy the chassis parts together with the frame joiners and tapered locking wedges, install the three wheel servos and chain servo 8 to 9, 9 to 10 and 10 to 11 (at least a 90 cm cable between servos 10 and 11, 140 cm recommended). Fit each omni wheel with its connector, axle, 12x18x4 mm bearings and cover, then run the wheel drive test.

    Upstream stepgithub.com/liyiteng/AlohaMini/blob/17c6a98d79881a45ab869c1f3...

  4. Build the lift tower and shoulder block

    Epoxy the tower posts in order, press the hex base into the chassis socket until flush, and route the wheel servo cable through the centre hole. Press the eight 4x13x5 mm track bearings into the shoulder block, insert the 12x25 mm shaft from the right side, fasten the lift gear to the servo output disc with four M3x10 screws, and slide the epoxied T-frame onto the tower rails.

    Upstream stepgithub.com/liyiteng/AlohaMini/blob/17c6a98d79881a45ab869c1f3...

  5. Mount cameras and arms, route cables

    Fit the two top cameras in their printed mounts and the chest camera in the front bracket, and bolt the follower arms to the shoulder T-frame with long M3 screws and nuts. Feed the arm and camera cables through the tower cable ports, connect lift servo 11 to the servo driver board on the left arm with enough slack for full lift travel, and sleeve the left and right bundles.

    Upstream stepgithub.com/liyiteng/AlohaMini/blob/17c6a98d79881a45ab869c1f3...

  6. Install compute and power, then test

    Mount the display on its bracket in the rear dovetail slot, and the Raspberry Pi 5, buck converter, batteries and counterweight in the rear support. Battery 1 feeds both arms through a 2-to-1 splitter; battery 2 feeds the Pi through the buck converter. Then run the wheel and lift debug tests.

    Upstream stepgithub.com/liyiteng/AlohaMini/blob/17c6a98d79881a45ab869c1f3...
Print timenot published
Assembly time2 h

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

How reproducible

How confidently this design builds into a working robot, from what its sources publish: each criterion's points, quality tier and evidence.

83/100Strong source coverage, unverified

Engine v3.1.1 at 17c6a98

  • The engine could not tell what kind of robot this is from its sources.
How this score is computed

Files and sim

14 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

Simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from AlohaMini2/urdf/alohamini2/urdf/alohamini2.urdf at 17c6a98.

Builds

0 reviewed

No reviewed builds of AlohaMini yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources

Where the facts come from

Last push to liyiteng/AlohaMini: 2026-07-01 (checked 2026-10-02)

Related links

How this page was made

Assembled from public sources on 2026-09-30, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: 2026-09-30 liyiteng/AlohaMini@17c6a98 README, LICENSE, tree.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain AlohaMini? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 83/100

Markdown
[![Motari reproducibility score for AlohaMini](https://motari.io/api/v1/badge/alohamini)](https://motari.io/r/alohamini)
HTML
<a href="https://motari.io/r/alohamini"><img src="https://motari.io/api/v1/badge/alohamini" alt="Motari reproducibility score for AlohaMini" height="20"></a>

Not fully met yet: wiring diagram (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed