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How to build XLeRobot

16-DoF mobile manipulator · Advanced

XLeRobot puts two SO-101 arms, a pan/tilt head and a Feetech drive base in an IKEA RÅSKOG cart, powered by a USB-C power station. Apache-2.0, about $660.

Start the buildProject files
Difficulty
Advanced

Many actuators, custom wiring and real tuning work.

Build time
1–3 months

Our estimate, part-time

Parts cost
$660

About $660, per the project's estimate

Degrees of freedom
16

Apache-2.0

What is XLeRobot?

Gaotian (Vector) Wang's XLeRobot is a dual-arm home robot built inside an IKEA RÅSKOG utility cart. Two SO-101 follower arms, a two-servo pan/tilt head and a Feetech drive base share the cart, and a USB-C power station runs everything.

Version 0.4.0 switched to a two-wheel differential base and a modular arm mount. Earlier versions used a LeKiwi-style omni base.

The repo has STEP, 3MF and STL files, ManiSkill URDF and MuJoCo models, and LeRobot classes with keyboard, Xbox, Joy-Con and VR teleop.

XLeRobot specifications

DoF
16 (10 arm, 2 gripper, 2 head, 2 wheel)
Servos
STS3215 12 V
Chassis
IKEA RÅSKOG cart
Power
Anker SOLIX C300

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
STS3215 servo (12 V)17Count for the omni-base layout
IKEA RÅSKOG utility cart1
Anker SOLIX C300 power station1
Table clamps4
Raspberry Pi 5—Optional; a laptop works
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 $660 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • FDM printer
  • Screwdrivers

Step-by-step build overview

Electronics & wiring overview

The servo buses connect to the host over USB. The power station's USB-C outputs feed the bus boards and computer.

Battery packpower sourceLaptop / PChigh-level controlRealSense depth camer…sensingRaspberry Pireal-time controllerServo bus adapterdrivers / busFeetech STS3215 bus s…16 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

LeRobotMuJoCoURDF model

LeRobot-based robot classes plus ManiSkill and MuJoCo models (Apache-2.0).

Tips from the bench

  • ☕ The power station needs two 60 W+ USB-C fast-charge ports.

XLeRobot FAQ

Do I need a Raspberry Pi?

No. Upstream says a laptop can run it.

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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