LeKiwi
SIGRobotics UIUCLeKiwi is a low-cost, 3D-printable mobile manipulator: an SO-101 arm on a three-wheel omnidirectional base with a Raspberry Pi 5 and cameras, designed by SIGRobotics at the University of Illinois with Hugging Face contributors and driven by the LeRobot library. The repository publishes STL files, a URDF and a bill of materials, about $480 for the full robot, and Seeed Studio sells a kit.
The arm is The Robot Studio's SO-101 (the so-101 row); LeKiwi adds the base and a modified follower-arm mount.
Openness
5 medium confidence- form_factor
- board(a complete mobile robot, printed and assembled from the design or bought as a kit)
- schematics
- open(STL for every printed part and a URDF under Apache-2.0
- toolchain
- open(driven by the Apache-2.0 LeRobot library)
- retail
- distributor(a Seeed Studio kit
Every printed part is published as STL with a URDF under Apache-2.0, the full CAD is a publicly shared Fusion 360 project, and the robot is set up and driven through the open LeRobot library. The servos inside have closed firmware, as on SO-101.
- https://huggingface.co/docs/lerobot/lekiwi recorded 2026-09-27
LeRobot LeKiwi guide: install LeRobot with the lekiwi extra on the Raspberry Pi, set up arm motors 6..1 and wheel motors 9, 8, 7, run lerobot.robots.lekiwi.lekiwi_host, and teleoperate, record and evaluate from examples/lekiwi.
- https://raw.githubusercontent.com/huggingface/lerobot/main/LICENSE recorded 2026-09-27
LeRobot LICENSE: "Copyright 2024 The Hugging Face team", Apache License, Version 2.0.
- https://raw.githubusercontent.com/SIGRobotics-UIUC/LeKiwi/main/BOM.md recorded 2026-09-27
Bill of materials: 12V build $482, 5V build $499, base only from $184, excluding 3D printing; parts "from Seeed studio".
- https://raw.githubusercontent.com/SIGRobotics-UIUC/LeKiwi/main/LICENSE.txt recorded 2026-09-27
LICENSE.txt: the Apache License, Version 2.0 text, covering the repository.
- https://raw.githubusercontent.com/SIGRobotics-UIUC/LeKiwi/main/README.md recorded 2026-09-27
README: "LeKiwi - Low-Cost Mobile Manipulator"; "3-wheel Kiwi (holonomic) drive with omni wheels"; "Robot Arm - SO-ARM101"; "Raspberry Pi 5"; "Fusion 360 CAD"; "We also provide the URDF".
- https://ungh.cc/repos/SIGRobotics-UIUC/LeKiwi/files/main recorded 2026-09-27
Repository tree: 3DPrintMeshes/*.stl for the base and mounts, URDF/LeKiwi.urdf with its meshes, webcam mount STEP files.
- https://www.seeedstudio.com/LeKiwi-Full-Kit-12V-Verision.html recorded 2026-09-27
Seeed Studio product page: "LeKiwi Full Kit (12V Version)"; "LeKiwi Kit(12V version) is a low-cost, open-source, self-assembly mobile manipulator".
Adoption
2 low confidenceGitHub stars on the design repository. Seeed Studio publishes no kit sales.
- https://ungh.cc/repos/SIGRobotics-UIUC/LeKiwi recorded 2026-09-27
Repository record for SIGRobotics-UIUC/LeKiwi: 1,441 stars, description "LeKiwi - Low-Cost Mobile Manipulator".
Capability
4 high confidenceLeKiwi puts a single small arm on a base that drives in any direction, so it can move to a task instead of waiting for the task to be brought to the table. It has one arm and no legs, well short of a full humanoid.
- https://huggingface.co/docs/lerobot/lekiwi recorded 2026-09-27
LeRobot LeKiwi guide: arm motors ids 6..1 and wheel motors 9, 8, 7.
- https://raw.githubusercontent.com/SIGRobotics-UIUC/LeKiwi/main/README.md recorded 2026-09-27
README: "3-wheel Kiwi (holonomic) drive with omni wheels"; "Robot Arm - SO-ARM101".
Verified 2026-09-27