Auto-assembled, not yet reviewed

LeKiwi

Mobile base + SO-arm, holonomic LeRobot rover.

Reproducibility80/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
LeKiwi open-source 9-DoF mobile manipulator, 3D render from LeKiwi.urdf
main assembly 3D · LeKiwi.urdf

About LeKiwi

A holonomic mobile base paired with an SO-class arm, forming a low-cost LeRobot rover for mobile manipulation experiments.

Licenses

Hardware
Apache-2.0
Software
Not published
Docs
Not published

Degrees of freedom

9 DoF arm 5wheels 3gripper 1

Breakdown source

Mobile manipulatorHolonomic baseOmni wheelssource

How to build LeKiwi

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Print base and arm parts

    Print the base plates, drive motor mounts, wheel hubs, servo controller mount, battery or power bank mount and Pi case in PLA, plus the SO-101 arm. Upstream estimates about 34 hours and tested 15% infill at 0.2 mm layers, with supports on the wheel hubs.

    Motari summarygithub.com/SIGRobotics-UIUC/LeKiwi/blob/main/Assembly.md

  2. ID arm and drive servos

    With the arm and wheel servos on the motor control board, run the LeKiwi motor setup to set the arm IDs 6 to 1 and then the wheel IDs 9, 8 and 7 in the required mounting order.

    Upstream stephuggingface.co/docs/lerobot/lekiwi

  3. Build the holonomic base

    Build three wheel modules (drive servo, motor mount, wheel hub, servo horn and 4 inch omni wheel) on the bottom base plate, then mount the Pi and the SO-101 arm on the top plate.

    Motari summarygithub.com/SIGRobotics-UIUC/LeKiwi/blob/main/Assembly.md

  4. Wire power and the Pi

    Wire the servo driver to the wheel servos and arm, powered by the 12V battery (12V version) or the USB power bank (5V version). Power the Pi 5 over USB-C and plug the servo controller and cameras into the Pi by USB.

    Motari summarygithub.com/SIGRobotics-UIUC/LeKiwi/blob/main/Assembly.md

  5. Calibrate and drive

    Run LeRobot calibration, then teleoperate the holonomic base and the arm together.

    Motari summarygithub.com/SIGRobotics-UIUC/LeKiwi/blob/main/Assembly.md
Print time34 h
Assembly time2 h

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

LeKiwi bill of materials

9 rows

Cost to build

$499USDsource total

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.

LeKiwi parts, as the source lists them (read 2026-06-06). Prices are the source's, not checked against vendors.

LeKiwi bill of materials
PartQtySpecSourceConfidence
Feetech STS3215 servo setarm joints plus three base drive servos
1512 arm servos plus 3 base servos
Feetech / Waveshare$15 eachBOM lists 3 STS3215 servos for the base; BOM lists 12 STS3215 servos for the arm
high
Raspberry Pi 5 (4GB)onboard computer
14GB Raspberry Pi 5
Raspberry Pi / Adafruit$60.00BOM lists Raspberry Pi 5 (4GB)
high
USB camerabase and wrist camera inputs
2USB camera modules
Amazon / generic$12.98 eachBOM lists two USB cameras
high
MicroSD cardPi boot/storage media
132GB-plus microSD
Amazon / generic$11.23BOM lists MicroSD card
high
Omni wheelsholonomic base
34 inch omni wheels
VEX Robotics / RobotShop$9.99 eachBOM lists three 4 inch omni wheels
high
Motor control boardsservo bus control
2serial bus servo driver boards
Waveshare$11 eachBOM lists two motor control boards for the 5V build
high
Power bank and USB-C cabling5V mobile power path
120000mAh 85W power bank, USB-C pair, USB-C-to-DC cable
INIU / generic$60 totalBOM lists 20000mAh 85W power bank; BOM lists USB-C cable pair; BOM lists USB-C to DC cable
high
Fasteners and assembly toolshardware required for printed assemblies
1M2/M3/M4 screw set, table clamps, screwdriver set
Amazon / generic$38.99 totalBOM lists assorted screw set; BOM lists table clamps; BOM lists screwdriver set
high
3D printed base and SO-arm partsall rendered STL components in the URDF
1base plates, wheel mounts, SO-arm links, wrist and camera mounts
3D print yourselffilament not priced in upstream BOMGenerated visual uses 45 STL meshes from SIGRobotics-UIUC/LeKiwi@f93df541 URDF/meshes
high

Rows from the source's own parts list 38

BOM.md@f93df54markdown

Source rowQtyPrice and vendorLine
12V
vendor not listed12V
L7
5V
vendor not listed5V
L8
Base only (5V)
vendor not listedBase only (5V)
L9
Base only (12V)
vendor not listedBase only (12V)
L10
Base only wired
vendor not listedBase only wired
L11
4" Omni wheels
3
VEX RoboticsRobotShop$9.99
L24
M2 M3 M4 Assorted Screw Set
1
Amazone.tb.cn$14.99
L25
Raspberry Pi 5 (4GB)
1
AdafruitMouser$60.00
L32

30 more rows in BOM.md

LeKiwi source files

9 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.

LeKiwi in 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 URDF/LeKiwi.urdf at f93df54.

Builds of LeKiwi

0 reviewed

No reviewed builds of LeKiwi 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 and provenance

Sources

Last push to SIGRobotics-UIUC/LeKiwi: 2026-08-05 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-05-13, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". The fields were read from public sources and have not been re-checked against the live repository.

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

Badge: reproducibility 80/100

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

Not fully met yet: cad / mesh present (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