AlohaMini
A 3D-printed dual-arm mobile robot with a motorized vertical lift, built for embodied AI research and real-world manipulation.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
About $600total, self-print
The README lists the total as about $600 (self-print). README
Can I sell what I build?
YesCommercial use OK
Hardware Apache-2.0 · Software Apache-2.0. Licensing source
What’s open?
5 of 6CAD: AvailableBOM: AvailablePCB: Not documentedCode: AvailableSim: AvailableGuide: Available
PCB not documented. All six files
What does it run on?
Simulation: URDF and simulation assets are available. Software
Is it maintained?
Quiet
Latest activity Jul 23, 2026 · main repo last commit Jan 27, 2026 · 74 commits in the last 52 weeks · 4 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
AlohaMini is a dual-arm mobile robot with a motorized vertical lift, built with 3D-printed parts. The project describes it as intended for embodied AI research and real-world manipulation, and provides STEP CAD files, printable STL files, an assembly guide, and LeRobot support.
Hardware
- Actuators
- 16 · Feetech STS3215 (12V bus) servo motors README
- Build
- 3D-printed · PLA/PETG/ABS Documentation
- Lift travel
- 0–60 cm README
- Perception
- 5-camera perception system README
Building it
- 3D-printing materials
- PLA/PETG/ABS BOM.md
Software & simulation
- Runs on
- LeRobotRaspberry Pi
- Robot learning and control
- LeRobot-compatible README
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | STEP CAD files are available. | Not documented | step/ |
| Bill of materials | Available | Bill of materials. | Not documented | BOM.md |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Available | The README states that software is freely available. | Not documented | software/ |
| Simulation model | Available | URDF and simulation assets are available. | Not documented | Aloha.urdf |
| Assembly guide | Available | Assembly instructions. | Not documented | hardware_assembly.md |
03 / Know before you build
Can you sell it?
YesCommercial use OK
The whole repository, design files included, is Apache-2.0. You can build, modify and sell robots based on it, as long as you keep the license and copyright notices.
- Hardware
- Apache-2.0
- Software
- Apache-2.0
04 / The upstream project
Is it maintained?
QuietLatest activity Jul 23, 2026, 99 days before the snapshot
The main repository’s last commit was Jan 27, 2026.
- Stars
- 8
- Forks
- 0
- Contributors
- 4
- Latest release
- urdf-assets-v1 · Jul 23, 2026
Snapshot captured Oct 30, 2026. Recorded figures, not live metrics. Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other mobile robots.
Closest documented maker’s cost first, then the most recently active mobile robots. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| AlohaMiniThis robotLi Yiteng / Wu Zhiyong | About $600total, self-print | 5 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | LeRobotRaspberry Pi | QuietJul 23, 2026 | 8 |
| LeKiwiSIGRobotics-UIUC | $4995V version | 4 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | LeRobotRaspberry Pi | ActiveAug 5, 2026 | 1,497 |
| Just1NRdrgz | $250complete build | 3 of 6 | YesHW MIT · SW MIT | ROS 2Raspberry Pi | Not documented | — |
| OpenPodcarOpenPodcar | Not documented | 6 of 6 | Yes, with creditHW GPL-2.0 · SW GPL-2.0 | ROS 1GazeboArduino | DormantMay 9, 2022 | 50 |
| This robotAlohaMini | LeKiwi | Just1 |
|---|---|---|
| Cost | ||
| About $600 | $499 | $250 |
| Can I sell it? | ||
| Yes | Yes | Yes |
| Open files | ||
| 5 of 6 | 4 of 6 | 3 of 6 |
| Runs on | ||
| LeRobot, Raspberry Pi | LeRobot, Raspberry Pi | ROS 2, Raspberry Pi |
| Maintained | ||
| QuietJul 23, 2026 | ActiveAug 5, 2026 | Not documented |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit aa92bf0. Websites and papers are listed with their review dates.
- 01README.md at aa92bf0Reviewed Oct 30, 2026
- 02LICENSE at aa92bf0Reviewed Oct 30, 2026
- 03docs/BOM.md at aa92bf0Reviewed Oct 30, 2026
- 04docs/hardware_assembly.md at aa92bf0Reviewed Oct 30, 2026