Build Up the LeKiWi

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Overview

The LeKiWi is a mobile manipulator robot platform developed by LeRobot. It consists of a mobile base and a 6-DoF robotic arm, the SO101.

Works done so far

• The LeRobot follower arm has been built and tested. details
• The LeRobot leader-follower control system has been implemented and tested. details

Objectives

• Build up the LeKiWi robot platform.
  • It should be able to move.
  • The video stream from both cameras mounted on the base and the endeffector should be accessible.

Details

Hardware Setup

• The 3D model of the LeKiWi setup:

  The official CAD files for LeKiWi is constructed in Fusion 360.

  

• Bill of Materials (BOM) and 3D-Printing Parts:

  • LeKiWi BOM
  • 3D-Printing Parts

• Overview of the hardware components used in the LeKiWi setup:

  1. The Follower Arm, built up and tested according to the official tutorial. TODO_Pic
  2. The Leader Arm. TODO_Pic
  3. The Raspberry Pi and necessary accessories. TODO_Pic
  4. 2 cameras. TODO_Pic
  5. The extra parts for the LeKiWi base. TODO_Pic
     • The distance column is 3D-printed. TODO_Pic