LeKiwi Mobile Robot Kit - Open-Source Omnidirectional Platform

Description

The LeKiwi is a low-cost, open-source, self-assembly mobile manipulator platform originally developed by SIGRobotics-UIUC. Purpose-built for embodied AI and advanced robotics research, it pairs natively with the Hugging Face LeRobot imitation learning framework.

Featuring a 3-wheel omnidirectional drive system, onboard vision, and a highly modular chassis, the LeKiwi is designed to empower educators, researchers, and makers. Whether you are working on precise navigation, data-driven experimentation, or full-scale imitation learning pipelines, this platform gets you up and running quickly.

Applications & Software Capabilities:

The LeKiwi is explicitly designed to work with the LeRobot software platform, providing powerful out-of-the-box functionality for researchers:

• Versatile Teleoperation: Control your robot your way. Supports Game Controller input, Keyboard control (WASD for base movement), and Leader Arm control (using a second SO-ARM101/100 as an input device).

• Advanced Data Collection: Streamline your imitation learning workflows. The platform facilitates joint angle recording, synced camera feed capture, and complete task demonstration recording.

• Sensor Streaming: Offload heavy compute by streaming real-time sensor data to a host laptop for intensive processing, data visualization, and system monitoring.

• Effortless Ecosystem Expansion (XLeRobot): Future-proof your hardware! You can easily leverage your LeKiwi components to build the XLeRobot—a dual-arm mobile robot designed for dynamic, household challenges. The transition is seamless: transfer your existing policies directly with no need for motor ID changes or modifications to your single/dual-arm tabletop setup.

Hardware Key Features:

• 3-Wheel Omnidirectional Drive: Achieve precise, smooth multidirectional movement and strafing capabilities, ideal for complex maneuvers and tight spaces.

• Robotic Arm Integration: The chassis is specifically designed to support 6-axis robotic arms like the LeRobot SO-ARM100 / SO-ARM101, enabling you to transform the mobile base into a complete mobile manipulator.

• Vision & Perception: Comes equipped with a crisp 2MP USB RGB camera, perfect for computer vision processing.

• High-Capacity Power: Powered by a 12V 5600mAh rechargeable battery. Includes a 12V-to-5V step-down module to safely power integrated 5V robotic arms.

• Modular Self-Assembly: Built using high-quality 3D-printed parts (PLA+) and standard hardware, allowing for easy customization and sensor mounting (e.g., adding LiDAR).

Specifications:

• Platform: LeKiwi (Developed by SIGRobotics-UIUC)

• Drive Type: 3-Wheel Omnidirectional

• Camera: 2MP HD Vision Module

• Operating Voltage: 12V

• Battery Capacity: 5600mAh

• Controller Compatibility: Designed for Raspberry Pi 5 (Not included)

What’s Included in the Box (12V Base Kit):

• 1x Complete LeKiwi Modular 3D-Printed Chassis Kit

• 3x High-Torque Drive Servos/Motors

• 3x Omniwheels with Mounting Hubs

• 1x Main Servo/Motor Driver Board

• 1x 2MP USB Camera Module

• 1x 12V 5600mAh Rechargeable Battery

• 1x 12V-to-5V Step-Down Converter Module

• All necessary tap/machine screws, cables, and assembly hardware

⚠️ Important Note: This is the standalone 12V Base Kit. A Raspberry Pi 5 (or compatible single-board computer) and MicroSD card are required for operation but are NOT included in this package.

Resources & Community Support:

• Detailed Setup: For comprehensive information on software setup and integration with LeRobot, visit the DeepWiki (SIGRobotics-UIUC/LeKiwi).

• Active Discord Community: For questions or specific integration challenges, join the official LeRobot Discord server and head to the #mobile-so100-arm channel for direct assistance.

• See it in Action: Check out community demos to discover the possibilities of the LeKiwi platform: Watch Demo Here

Unboxing and Installation video: 

https://www.youtube.com/watch?v=OKG4c1hSoM4