RobotData

Hardware / Single Arm

SO-101

LeRobot SO-101 follower arm · The Robot Studio / LeRobot community

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DEGREES OF FREEDOM
6
PAYLOAD
0.5 kg
REACH
450 mm
CONTROL RATE
30 Hz
POWER
12 V DC bench supply
RUNTIME
Continuous duty
ONBOARD COMPUTE
Host laptop running LeRobot
INTERFACES
USB serial bus servo controller

Actuators

2

Joints and end effectors that produce the action vector recorded in datasets.

Arm joints

×5

Serial-bus smart servo

shoulder pan/lift, elbow, wrist flex/roll

Gripper

×1

Servo-driven parallel jaw

printed fingers

Motors & drives

1

The drive units inside those joints, with torque and reduction details.

Feetech STS3215

Serial-bus servo, metal gear

~30 kg·cm at 12 V, position + load feedback

Sensors

3

Observation streams available to a policy running on this platform.

Servo position/load

Magnetic encoder in servo

read at control rate

Wrist camera

USB RGB

typical 640×480 @ 30 fps

Overhead camera

USB RGB

scene view for imitation learning

Open-hardware ~$100-class arm; leader-follower teleoperation makes it the cheapest way to record real demonstrations.

Data recorded on this hardware

Resolving related models, datasets and papers…