Koch v1.1 vs SO-101 (SO-ARM101)
Cost, parts and difficulty side by side.
| Koch v1.1 | SO-101 (SO-ARM101) | |
|---|---|---|
| Cost | $477 to $560 | $230 to $330 |
| Difficulty | intermediate | beginner |
| Parts | 13 | 8 |
| 3D printing | yes | yes |
| Kits available | 1 | 5 |
| Made by | Jess Moss (after Alexander Koch's low-cost robot) | TheRobotStudio and Hugging Face |
| Full list | Koch v1.1 parts list | SO-101 (SO-ARM101) 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-101 (SO-ARM101)
Low-cost 3D printed 6-DOF arm pair (leader plus follower) for teleoperation and imitation learning with LeRobot.
The short answer
SO-101 costs less to start: about $230 against $477 in parts. SO-101 has the shorter parts list (8 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-101
- 7 x Feetech STS3215 7.4V, 1/345 gear (C001)
- 2 x Feetech STS3215 7.4V, 1/191 gear (C044)
- 3 x Feetech STS3215 7.4V, 1/147 gear (C046)
- 2 x 5V power supply, 5.5x2.1 mm barrel