LeKiwi
A mobile manipulator with a three-wheel omni-drive base, an SO-ARM101 arm, and workspace and wrist RGB cameras.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
$4995V version
The BOM table lists the 5V total as $499. BOM.md
Can I sell what I build?
YesCommercial use OK
Hardware Apache-2.0 · Software Apache-2.0. Licensing source
What’s open?
4 of 6CAD: AvailableBOM: AvailablePCB: Not documentedCode: Not documentedSim: AvailableGuide: Available
PCB, code not documented. All six files
What does it run on?
Simulation: URDF exported from CAD for simulation. Software
Is it maintained?
Active
Latest activity Aug 5, 2026 · 4 commits in the last 52 weeks · 10 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
LeKiwi combines a three-wheel Kiwi holonomic base with an SO-ARM101 arm. Its design includes a workspace RGB camera and a wrist RGB camera. The repository provides a Fusion 360 CAD link, a URDF exported from CAD for simulation, and assembly instructions.
Hardware
- Actuators
- Not documented Documentation
- Build
- 3D-printed · Printed camera mounts and parts Documentation
- Drive
- Three-wheel Kiwi holonomic drive with omni wheels README
- Compute
- Raspberry Pi 5 README
- Cameras
- Workspace RGB camera and wrist RGB camera README
Building it
- Assembly time
- Estimated time: 2 hours Assembly.md
- Assembly prerequisite
- The instructions assume an SO-100/SO-101 arm is already built Assembly.md
Software & simulation
- Runs on
- LeRobotRaspberry Pi
- Stated capabilities
- Teleoperation with a controller or laptop WASD plus leader arm; data collection pipeline; streaming joint angles and camera feed 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 | Fusion 360 CAD document. | Not documented | a360.co |
| Bill of materials | Available | Bill of materials. | Not documented | BOM.md |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Not documented | Not documented | Not documented | No source found |
| Simulation model | Available | URDF exported from CAD for simulation. | Not documented | URDF/ |
| Assembly guide | Available | Assembly instructions. | Not documented | 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?
ActiveLatest activity Aug 5, 2026, 86 days before the snapshot
- Stars
- 1,497
- Forks
- 164
- Contributors
- 10
- Latest release
- None recorded
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 |
|---|---|---|---|---|---|---|
| LeKiwiThis robotSIGRobotics-UIUC | $4995V version | 4 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | LeRobotRaspberry Pi | ActiveAug 5, 2026 | 1,497 |
| AlohaMiniLi Yiteng / Wu Zhiyong | About $600total, self-print | 5 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | LeRobotRaspberry Pi | QuietJul 23, 2026 | 8 |
| 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 robotLeKiwi | AlohaMini | Just1 |
|---|---|---|
| Cost | ||
| $499 | About $600 | $250 |
| Can I sell it? | ||
| Yes | Yes | Yes |
| Open files | ||
| 4 of 6 | 5 of 6 | 3 of 6 |
| Runs on | ||
| LeRobot, Raspberry Pi | LeRobot, Raspberry Pi | ROS 2, Raspberry Pi |
| Maintained | ||
| ActiveAug 5, 2026 | QuietJul 23, 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 efa608d. Websites and papers are listed with their review dates.
- 01README.md at efa608dReviewed Oct 30, 2026
- 02LICENSE.txt at efa608dReviewed Oct 30, 2026
- 03Assembly.md at efa608dReviewed Oct 30, 2026
- 04BOM.md at efa608dReviewed Oct 30, 2026