Overview
LeRobot SO-ARM100/101 is an open-source robotic arm designed for education, makers, and light-industry learning and prototyping. The SO-ARM100 platform features a 6-DOF structure, modular 3D-printed construction, and multi-modal interaction support (vision/voice/joystick). Full-stack open-source resources are provided, including 3D-printable files, PyTorch training frameworks, and pre-trained models.
Key Features
- 6-DOF robotic arm with modular, minimalist industrial design.
- 3D-printed structure: high-strength 3D-printed components with user-customizable assembly.
- Modular expansion: standardized interfaces for integrating grippers and sensors (e.g., depth cameras, voice modules).
- Precision control: STS3215 bus servo motor with max torque 30kg.cm (Professional Edition) and ±0.1° high-precision motion.
- Joint feedback: integrated 12-bit magnetic encoder for real-time joint angle feedback and repeat positioning accuracy.
- Multi-modal perception: supports multi-USB camera visual feedback to enhance obstacle avoidance and gripping in complex scenarios.
- Expandable voice control (e.g., reSpeaker Kit) for “vision + voice” interaction.
- Open-source software stack: open-sourced files/frameworks and workflows including virtualization, dataset recording (Hugging Face Hub sync), and model deployment.
For help choosing a package option or confirming what is included, contact customer service.
Specifications
| Degrees of Freedom | 6 |
| Max Torque | 30kg.cm @12V |
| Servo Motor | STS3215 Bus Servo |
| Power Supply | 5.5mm*2.1mm DC 12VA |
| Angle Sensor | 12-bit Magnetic Encoder |
| Operating Temperature | 0°C~40°C |
| Communication Protocol | UART |
What’s Included
Available package selections:
- Core DIY Builder Kit (3D-printed parts + 12 servos)
- Complete Component Kit (All mechanical/electronic parts)
- Pre-Assembled Pro Bundle (Fully built + technical support)
Package component differences:
| Component | Core DIY Builder Kit | Complete Component Kit | Pre-Assembled Pro Bundle |
|---|---|---|---|
| Feetech ST3215-C018 Motors (12V/30KG) | 12 units | 12 units | 12 units |
| High-quality PLA Printed Parts | Yes | Yes | Yes |
| Assembly Tool Kit | Yes | Yes | Yes |
| Technical Support Hub | Yes | Yes | Yes |
| Waveshare Servo Adapter | No | Yes | Yes |
| Two Power Adapters (12V5A & 12V10A) | No | Yes | Yes |
| 2m Dual-Type-C Data Cables | No | Yes | Yes |
| G-shaped Fixed Frames | No | Yes | Yes |
| 2MP 170° FOV Vision Sensor (2 units) | No | Yes | Yes |
| Pre-assembled Product Calibration | No | No | Yes |
Available color selections: Black, White, Blue, Orange.
Applications
- Robotics learning, imitation training, and algorithm validation
- Machine learning experimentation and dataset collection workflows
- Home/maker projects (e.g., item organization, plant watering)
Details
LeRobot SO-ARM100 is a 6‑DOF, open‑source robotic arm built for education, makers, and light‑industry prototyping.
A modular, 3D‑printed structure keeps the build lightweight while supporting precise multi‑joint motion control.
Multi‑modal interaction supports vision (multi‑USB cameras) and expandable voice control for richer experimentation.
Full‑stack open‑source workflows cover dataset recording, model training, and deployment, with joystick control for hands‑on testing.
Specifications and common learning use cases—imitation training, machine learning, and algorithm validation—are summarized for quick planning.
