SO-ARM101 Pro Assembled Kit

The SO-ARM101 Pro Assembled Kit is a fully assembled, open-source leader-and-follower robotic arm pair for AI-driven imitation learning. It works natively with the Hugging Face LeRobot framework, so you can collect teleoperation data and train policies such as ACT or Diffusion with community pipelines.

Each joint uses an STS3215 magnetic-encoder bus servo with 12-bit absolute position feedback. The follower arm uses 12 V servos (1:345 gear ratio); the leader arm uses 7.4 V servos with mixed gear ratios for easy back-driving. Each arm has 5+1 DoF and connects to a PC over UART. All hardware designs, BOM, firmware and software are publicly available.

What's in the box

• Assembled leader arm (black)
• Assembled follower arm (white)
• Flexible gripper parts
• 32×32 mm USB camera
• Servo driver boards ×2
• 5 V and 12 V power cables
• USB-C cables ×2
• DC pigtail cables ×2
• Clamps ×4, screwdriver and mouse mat