LeKiwi

LeKiwi - Low-Cost Mobile Manipulator | Version 1

Quick Links

1. Bill of Materials
2. 3D Printing
3. Assembly

Hardware Design

Power

• 12V 5A LiPo battery to power motors and be converted to 5V 5A for the Rasberry Pi 5

Compute

• Raspberry Pi 5
• Laptop streaming

Drive

• 3-wheel Kiwi (holonomic) drive with omni wheels

Robot Arm

• SO-ARM100

Sensors

• Workspace camera
• Wrist camera

Software Capabilities

Goals:

• Teleoperation with controller or laptop WASD + leader arm
• Data collection pipeline
• Streaming joint angles and camera feed

Get In Touch!

Join the project on this Discord server! Let us know if you have any questions, suggestions, or other feedback.

Main Contributors

Thank you to everyone who helped on the project!

CAD Design: Manav Chandaka, Bhargav Chandaka, Pepijn Kooijmans

Software: Pepijn Kooijmans, Gloria Wang, Bhargav Chandaka, Advait Patel