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Intermediate build

How to build AlohaMini

1-DoF mobile manipulator · Intermediate

AlohaMini2 puts two 6+1-DoF AM-ARM200 arms on a motorised lift over a three-omni-wheel printed base, with five cameras, a Raspberry Pi 5 and LeRobot software.

Start the buildProject files
Difficulty
Intermediate

Some soldering, calibration and Linux comfort needed.

Build time
2–4 weekends

Our estimate, part-time

Parts cost
$950

About $950, per the project's estimate

Degrees of freedom
1

Apache-2.0

What is AlohaMini?

Li Yiteng and Wu Zhiyong's AlohaMini is a home-built take on bimanual mobile robots like ALOHA. The current AlohaMini2 (June 2026) mounts two AM-ARM200 follower arms, each with six joints plus a gripper, on a vertical lift above a holonomic three-omni-wheel base.

It carries five USB cameras and a Raspberry Pi 5. The base uses Feetech STS3215 wheel servos and an STS3095 for the lift.

The repo has base and lift STEP/STL files, URDFs, a BOM and print and assembly guides. The arm CAD is in liyiteng/AM-ARM, and the software is a LeRobot fork. The older AlohaMini1 (SO-ARM arms) is in the same repo.

AlohaMini specifications

DoF
18 (12 arm, 2 gripper, 3 wheels, 1 lift)
Base
3× 127 mm omni wheels
Lift
STS3095 (95 kg·cm)
Compute
Raspberry Pi 5
Cameras
5 USB

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
STS3215 wheel servo3
STS3095 lift servo1
127 mm omni wheel3$40 each
20×40 aluminium extrusion, 400 mm1
Bearings (4×13×5 and 12×18×4)8 each
AM-ARM200 follower arms2From liyiteng/AM-ARM
Where's the full bill of materials?

The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $950 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • FDM printer
  • Hex drivers
  • Feetech servo tool

Step-by-step build overview

Electronics & wiring overview

All servos run on Feetech serial buses that the Pi controls through USB bus adapters. The cameras connect over USB.

Battery packpower sourceLaptop / PChigh-level controlcamerasensingRaspberry Pireal-time controllerServo bus adapterdrivers / bushobby/smart servos1 joint / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

LeRobotURDF model

LeRobot-based teleop and data collection (liyiteng/lerobot_alohamini, Apache-2.0).

Tips from the bench

  • ☕ AlohaMini1's base needs a large-format printer, but v2's doesn't.

AlohaMini FAQ

How much does AlohaMini cost?

The project estimates about $950.

Sources

Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.

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