LeKiwi Kit (12V Version) Mobile Base with 3D Printed Parts & Battery, Open‑Source, Raspberry Pi 5/Jetson Compatible

Overview

LeKiwi Kit (12V version) Mobile Base is a low-cost, open-source, self-assembly mobile manipulator developed by SIGRobotics-UIUC. The Mobile Base is compatible with Raspberry Pi 5 for running LeRobot, and integrates RGB USB cameras and a 6-axis robotic arm (e.g., LeRobot SO-ARM101/100) to enable precise navigation, object manipulation, and data-driven experimentation.

Note: This product includes only the LeKiwi Mobile Base. To build the full LeKiwi starter kit, add RGB cameras (at least 2), a Raspberry Pi 5, and SO-ARM101/100.

Key Features

• Mobility & Dexterity: Omnidirectional drive for agile navigation in tight spaces.
• Feetech STS3215 servos (30kg torque/joint) for robust grasping and teleoperation.
• Open & Modular: Free hardware designs and code for customization (sensors, grippers, etc.).
• Raspberry Pi/NVIDIA Jetson + LeRobot framework for remote control and flexible development.
• Educational & Research-Ready: Teaches robotics basics (kinematics, AI) and records interaction data for machine learning.

Specifications

Servo Motor

Hardware Overview

3D printed enclosure with omnidirectional wheels, motor control, and power modules designed for rapid self-assembly and integration with LeRobot.

Applications

The LeKiwi Mobile Base works with the LeRobot software platform to provide:

Teleoperation

• Game controller input
• Keyboard control (WASD for base movement)
• Leader arm control (using a second SO-ARM101/100 as an input device)

Data Collection

• Joint angle recording
• Camera feed capture
• Task demonstration recording

Sensor Streaming

• Remote processing on a laptop
• Data visualization
• System monitoring

For detailed information on software setup and integration with LeRobot, see Software Setup | SIGRobotics-UIUC/LeKiwi | DeepWiki.

Community Support

For LeRobot integration questions, join LeRobot’s Discord (channel mobile-so100-arm). See community demos: https://www.youtube.com/shorts/7WBpurj5Zoc.

Documents

• Feetech Servo Datasheet

ECCN/HTS

What’s Included

• LeKiwi 3D printed enclosure x1
• 12V 4500 mAh Lithium Battery x1
• 100mm Omnidirectional wheel x3
• Feetech STS3215 30KG Serial Servo x3
• Feetech Servo Cable x3
• DC-DC Buck Power Module – 12V to 5V x1
• DC Male to Dual DC Male 5521 Y-Cable x1
• USB Cable; Type C to Type A x2
• Plug Power Adapter; Black–12V–2A AC/DC x1
• Motor Control Board x1
• Stud (M2*6) x2
• Screw (M2*4) x4
• Screw (M3*16) x32
• Screw (M4*18) x9
• Screw (M2*6) x12
• Nut (M3*2.5) x35
• Screw (M3*18) x6
• Screw (M3*10) x15
• Stud (M3*45) x6
• Screw (M5*25) x4
• Nut (M5*3.5) x4

Details

LeKiwi Kit Mobile Base includes 3D printed enclosure, 12V battery, omnidirectional wheels, motor control board, power adapter, USB cables, DC Y-cable, buck converter, servo motors, wires, and screws for assembly.

LeKiwi Mobile Manipulator integrates with LeRobot Platform for teleoperation, data collection, and sensor streaming, enabling control, recording, and monitoring functionalities.