Koch v1.1 vs SO-100 (SO-ARM100)
Cost, parts and difficulty side by side.
| Koch v1.1 | SO-100 (SO-ARM100) | |
|---|---|---|
| Cost | $477 to $560 | $232 to $330 |
| Difficulty | intermediate | beginner |
| Parts | 13 | 6 |
| 3D printing | yes | yes |
| Kits available | 1 | 1 |
| Made by | Jess Moss (after Alexander Koch's low-cost robot) | TheRobotStudio and Hugging Face |
| Full list | Koch v1.1 parts list | SO-100 (SO-ARM100) 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.
SO-100 (SO-ARM100)
The original LeRobot leader and follower arm pair; now deprecated in favor of SO-101 but uses the same servos.
The short answer
SO-100 costs less to start: about $232 against $477 in parts. SO-100 has the shorter parts list (6 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)
SO-100
- 12 x Feetech STS3215 7.4V (C001, 1/345)
- 2 x 5V power supply, 5.5x2.1 mm barrel