SIGRobotics-UIUC/LeKiwi

SIGRobotics-UIUC/LeKiwi has 1,508 GitHub stars and 166 forks. GitHot measured -1 stars in 24 hours. Last checked 2026-11-07 05:19 UTC. Last push 2026-08-05.

How these counts are measured

LeKiwi - Low-Cost Mobile Manipulator

1,508 stars 166 forks

What you can do

Teleoperation with controller or laptop WASD + leader arm
Data collection pipeline
Streaming joint angles and camera feed

Measured star growth

in 24h: -1
in 7 days: Collecting history
in 15 days: Collecting history
in 1 month: Collecting history

Net star changes over overlapping periods, not daily totals. Missing measurements are left blank. Stars measure attention, not software quality.

README.md

Original

LeKiwi

LeKiwi - Low-Cost Mobile Manipulator | Version 1

Step by step tutorial

Hardware Design

Standardized Stacked Base Plates

Inspired by the open robotic platform, our base plates have 3.5mm diameter holes spaced 20mm apart for standardized mounting

Power

(12V version) 12v 5A Li-ion battery
(5V version) 65W Laptop power bank

[!TIP]
If this is the first time you build robots please choose the 5V version as it’s a little bit easier to assemble. If you are more experienced and want to lift heavier objects choose the 12V version. If you want the cheapest option possible go for the wired LeKiwi version.

Compute

Raspberry Pi 5
Streaming to a Laptop

Drive

3-wheel Kiwi (holonomic) drive with omni wheels

Robot Arm

SO-ARM101

Sensors

Workspace rgb camera
Wrist rgb camera

Software Capabilities

Goals:

Teleoperation with controller or laptop WASD + leader arm
Data collection pipeline
Streaming joint angles and camera feed

CAD Design

Fusion 360 CAD

We also provide the URDF exported from CAD for simulation.

Check out our Dynamixel Version!

We converted LeKiwi to use ROBOTIS components by using the Koch v1.1 arm, U2D2 motor controller, and Dynamixel XL430 motors for the mobile base. Dynamixel LeKiwi

Get In Touch!

Join the project on LeRobot's Discord server (channel mobile-so100-arm)! Let us know if you have any questions, suggestions, or other feedback.

Citation

If you use LeKiwi in your research, please cite the repository using the metadata in CITATION.cff. GitHub's Cite this repository menu provides APA and BibTeX citations.

Main Contributors

Thank you to everyone who helped on the project!

CAD Design: Manav Chandaka, Bhargav Chandaka, Pepijn Kooijmans

Software: Pepijn Kooijmans, Gloria Wang, Bhargav Chandaka, Advait Patel