Waveshare Bus Servo Adapter (A) / Serial Bus Servo Driver Board

by Waveshare. Used in 8 builds listed here.

Where to buy

waveshare_part	25514
host	USB (also UART header for MCUs)
servo_power_in	DC jack 5.5x2.1 mm and screw terminal
supported	Feetech/Waveshare ST and SC series (ST3215, ST3025, ST3020, SC09, SC15)

Set both jumpers to B (USB) or the PC cannot see the servos.
Supply voltage must match the servos: 5V for 7.4V STS3215 in LeRobot builds, 12V for 12V servos.
Waveshare says not to mix ST and SC series servos on one board.
Koch v1.1 uses it with Dynamixel servos through jumper wires; some builders could only recover XL430 firmware through it from Linux.

beginner · $232 to $330

The original LeRobot leader and follower arm pair; now deprecated in favor of SO-101 but uses the same servos.

beginner · $230 to $330

Low-cost 3D printed 6-DOF arm pair (leader plus follower) for teleoperation and imitation learning with LeRobot.

beginner · $288 to $360

Metal-bracket STS3215 leader and follower arms for LeRobot; still supported but deprecated in favor of SO-100/SO-101.

intermediate · $477 to $560

Dynamixel-based leader and follower arm pair, the first LeRobot reference arm; pricier than SO-101 but uses ROBOTIS servos.

intermediate · $482 to $620

Three-wheel omnidirectional base carrying an SO-101 arm, with a Raspberry Pi 5 and two cameras, for mobile manipulation.

intermediate · $660 to $1,000

Dual-arm household mobile robot built from two SO-101 arms, a LeKiwi-style base and an IKEA cart, starting near $660.

advanced · $650 to $1,100

Human-scale arm with a tendon-driven dexterous hand, plus a hall-sensor exoskeleton and glove for one-to-one teleoperation in LeRobot.

intermediate · $360 to $470

A 42 cm 3D printed biped inspired by Disney's BDX droid, walking with reinforcement learning policies on a Pi Zero 2W.