Koch v1.1 vs Moss v1
Cost, parts and difficulty side by side.
| Koch v1.1 | Moss v1 | |
|---|---|---|
| Cost | $477 to $560 | $288 to $360 |
| Difficulty | intermediate | beginner |
| Parts | 13 | 9 |
| 3D printing | yes | yes |
| Kits available | 1 | 0 |
| Made by | Jess Moss (after Alexander Koch's low-cost robot) | Jess Moss |
| Full list | Koch v1.1 parts list | Moss v1 parts list |
Koch v1.1
Dynamixel-based leader and follower arm pair, the first LeRobot reference arm; pricier than SO-101 but uses ROBOTIS servos.
Moss v1
Metal-bracket STS3215 leader and follower arms for LeRobot; still supported but deprecated in favor of SO-100/SO-101.
The short answer
Moss v1 costs less to start: about $288 against $477 in parts. Moss v1 has the shorter parts list (9 lines against 13).
Motors and servos
Koch v1.1
- 6 x Dynamixel XL330-M077-T
- 2 x Dynamixel XL430-W250-T
- 4 x Dynamixel XL330-M288-T
- 2 x ROBOTIS FPX330-H101 hinge frame and idler set (4 pcs)
Moss v1
- 12 x Feetech STS3215 7.4V (C001, 1/345)
- 2 x 5V power supply
Parts both builds use (1)
- 5V power supply
Building both? These parts carry over, so buying for one covers part of the other.