SO-ARM101 — Open-Source Dual Robot Arm Kit

2026-09-10T00:00:00Z 2026-09-10T00:00:00Z robotics robot-arm open-source 3d-print lerobot dual-arm

SO-ARM101 — Open-Source Dual Robotic Arm Kit

The SO-ARM101 is the successor to the SO-ARM100, designed as a complete dual-arm kit for LeRobot-based imitation learning. Improved wiring, easier assembly (no gear removal), and updated motors for the leader arm.

Key Improvements Over SO-ARM100

  • Better wiring — cleaner cable management, no soldering required
  • Easier assembly — no gear removal needed on servos
  • Updated motors — improved leader arm feel for smoother teleoperation
  • Purpose-built for dual-arm — designed as a pair from the ground up (leader + follower)
  • Kit ecosystem — available as DIY kit, parts bundle, or fully assembled

Specs

Spec Value
Axes 6 per arm (shoulder, elbow, wrist roll/pitch/yaw, gripper)
Configuration Leader arm (you move) + Follower arm (copies)
Frame 3D printed — STL files open source
Actuators Updated hobby servos
Control USB/serial controller
Software LeRobot (Python, PyTorch)

What it costs

Option Price Where
DIY — print your own parts + source electronics ~$100-120 Your 3D printer + component vendors
DIY Kit (electronics, hardware, no prints) ~$160-200 WowRobo, Partabot, AliExpress
3D printed parts only ~$35 AliExpress, Seeed Studio
Fully assembled ~$250-350 WowRobo, AliExpress
Dual-arm kit (two arms) ~$500-700 Vendors above

What's in the box (DIY kit)

  • Servo motors (upgraded for leader arm)
  • Controller boards
  • Cables and wiring harness
  • Fasteners and hardware
  • Does NOT include 3D printed parts — print yourself or add as option (~$35)

Build resources

  • Full 67-minute assembly guide video on YouTube
  • Chinese step-by-step tutorials for SO-ARM101 + LeRobot
  • 10,000+ units shipped worldwide (per WowRobo)
  • Community: Discord, GitHub discussions

LeRobot integration

  • Same plug-and-play as SO-ARM100 but optimized for dual-arm data collection
  • Leader arm position maps directly to follower arm — collect demonstrations naturally
  • Train ACT, Diffusion, or pi0 policies on your collected data
  • Deploy learned policy to follower arm

Where to buy parts

Vendor Ships From Notes
WowRobo China/Global DIY kit + assembled options
Partabot US Full kits, fast US shipping
AliExpress China Cheapest, longer shipping
Seeed Studio China 3D printed parts option

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