LeKiwi parts list
Three-wheel omnidirectional base carrying an SO-101 arm, with a Raspberry Pi 5 and two cameras, for mobile manipulation.
Mobile robotsintermediate by SIGRobotics UIUC and Hugging Face
Exploded view
Tap any part to see where to buy it. Diagram is schematic, not to scale.
Every part you need
| Part | Qty | Spec | Where to buy |
|---|---|---|---|
| 4 in (100 mm) omni wheel drive wheels | 3 | Kiwi (3-wheel holonomic) layout; official BOM lists $9.99 at VEX Three omni wheels at 120 degrees let the base move in any direction. | VEX Robotics: check price (unverified) single; BOM link RobotShop: EUR 22.83 |
| M2/M3/M4 assorted socket screw set fasteners | 1 | Covers base plates, motor mounts and wheel hubs. | Amazon: check price Amazon: check price |
| Raspberry Pi 5 (4GB) compute | 1 | Runs on the robot and streams to a laptop; official BOM lists $60, unverified and out of date; a 4GB now sells for $110 to $130 Onboard computer for motors and cameras. | Adafruit: $130.00 Mouser: check price (unverified) single; BOM link |
| USB camera (wrist and front) cameras | 2 | 1080p USB UVC; Arducam 5MP wide angle is the listed alternative One wrist view, one workspace view for data collection. | Amazon: check price Amazon: check price |
| microSD card storage | 1 | SanDisk Extreme class card for the Pi OS Boot drive for the Pi. | Amazon: check price Amazon: check price |
| Table clamp 4-pack mounting | 1 | Holds the leader arm to the desk. | Amazon: check price Amazon: check price |
| Precision screwdriver set tools | 1 | Small Phillips screws. | Amazon: check price |
| USB-C to USB-A cable 2-pack USB cables | 1 | Boards to Pi / laptop. | Amazon: check price |
| 20000 mAh 85W USB-C power bank (CUKTECH) 5V version: base power | 1 | Powers Pi and the 5V servo chain Portable power for the 5V build. | Amazon: check price |
| Feetech STS3215 7.4V 5V version: base wheel servos | 3 | BOM links the 7.4V 6-pack; run at 5V from the power bank Drive the three omni wheels in wheel mode. | Seeed Studio: $20.00 OpenELAB: EUR 23.57 Akizuki Denshi: JPY 3,200.00 Alibaba: check price (unverified) single; BOM link |
| USB-C cable 2-pack, 0.3 to 0.5 m 5V version: short USB-C cables | 1 | Power bank to Pi and to the servo board. | Amazon: check price |
| USB-C to DC barrel cable 5V version: power adapter cable | 1 | Feeds the servo board from the power bank. | Amazon: check price |
| Feetech STS3215 7.4V 5V version: arm servos (leader + follower) | 12 | LeKiwi BOM lists 12 generic 7.4V servos; for an SO-101 leader buy the mixed gear ratios on the SO-101 page instead Two SO-101 arms for teleoperation. | Seeed Studio: $20.00 OpenELAB: EUR 23.57 Akizuki Denshi: JPY 3,200.00 Alibaba: check price (unverified) single; BOM link |
| Waveshare Bus Servo Adapter (A) 5V version: servo bus controllers | 2 | One for the follower plus base chain, one for the leader USB link and power entry. | Waveshare: $4.99 Amazon: check price Akizuki Denshi: JPY 1,280.00 |
| 5V power supply 5V version: leader power | 1 | Powers the leader arm at the desk. | Amazon: check price Amazon: check price |
| 12V 5A Li-ion battery pack 12V version: battery | 1 | US and EU links point to different packs Higher voltage for heavier lifting. | Amazon: check price Amazon: check price |
| Wago 221-413 lever connectors 12V version: lever connector | 1 | Splits battery power without soldering. | Amazon: check price |
| 12V 5A DC plug connector 12V version: DC plug | 1 | Battery lead to the boards. | Amazon: check price |
| 12V to 5V 5A USB-C converter 12V version: Pi power | 1 | Runs the Pi from the 12V battery. | Amazon: check price |
| Feetech STS3215 12V 12V version: base wheel servos | 3 | 12V, 30 kg.cm; official BOM lists $13.89/unit Wheel drive at 12V. | Seeed Studio: $22.00 RobotShop: $31.71 Alibaba: check price (unverified) single; BOM link |
| Feetech STS3215 12V 12V version: arm servos | 12 | BOM lists 12; note SO-101 docs say the leader should stay 7.4V Two arms at 12V. | Seeed Studio: $22.00 RobotShop: $31.71 Alibaba: check price (unverified) single; BOM link |
| Waveshare Bus Servo Adapter (A) 12V version: servo bus controllers | 2 | USB link and power entry. | Waveshare: $4.99 Amazon: check price |
| 12V power supply 12V version: leader power | 1 | Powers the leader at the desk. | Amazon: check price |
Quantities follow the official LeKiwi docs: https://huggingface.co/docs/lerobot/lekiwi. "Unverified" prices come from search listings or older BOMs that we could not confirm on the seller's product page.
Kits (fewer orders, check what they leave out)
| Kit | Price | Includes | Leaves out | Buy |
|---|---|---|---|---|
| LeKiwi Full Kit (12V version) Seeed Studio | $179.00 | Mobile base with 3D printed parts and battery | Arms (SO-ARM101 kits $240 to $249.90 as add-ons), Raspberry Pi 5 ($110 add-on for 4GB), cameras ($12 each add-on) | Seeed Studio: $179.00 |
3D printed parts
Needed. Base plates use a 20 mm grid of 3.5 mm holes. Print the SO-101 arm separately from the SO-ARM100 repo. Files: https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/3DPrinting.md
Mistakes builders make
- Pick one power path before ordering: the 5V version (power bank) is easier for a first build, the 12V version lifts more. Parts are not interchangeable.
- The 12V EU link once pointed to a 3A DC-DC converter instead of 5A; check the amperage on whatever you buy.
- US and EU 12V battery links are different packs; match the plug to your DC connector.
- LeKiwi uses one motor board for the follower arm and wheels; the wheels must be IDs 7, 8 and 9 in the documented positions. The setup script assigns them in order.
- Keyboard driving of the base needs an X11 session, Windows or macOS with Input Monitoring allowed; it does not work over Wayland or headless.
- The Raspberry Pi 5 4GB is no longer $60: makers raised prices through 2026 because of memory costs.
FAQ
How much does it cost to build the LeKiwi?
About $482 to $620 in parts at current prices, Official totals: $499 (5V) or $482 (12V) including both arms, written before 2026 Raspberry Pi price rises; high end allows for a Pi 5 4GB at $110 to $130 and US retail servos. Excludes 3D printing, laptop and shipping. Use only one of the 5V or 12V groups..
Do I need a 3D printer for the LeKiwi?
Yes. Base plates use a 20 mm grid of 3.5 mm holes. Print the SO-101 arm separately from the SO-ARM100 repo.
Is there a kit for the LeKiwi?
Yes: Seeed Studio. Check what each kit leaves out before ordering.
Buying guides for this build
- Best beginner mobile robot kit
- Best beginner robot to build
- Best servo for a DIY robot arm
- Raspberry Pi 5 vs Jetson Orin Nano for robots
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Last checked 2026-10-25. Sources: github.com · github.com · github.com · github.com · github.com · huggingface.co · www.seeedstudio.com · liliputing.com · www.adafruit.com · eu.robotshop.com · www.seeedstudio.com · www.robotshop.com