A dual-arm household mobile robot that puts two SO-101 arms and a two-servo camera head on an IKEA RÅSKOG utility cart, driven by a LeKiwi-style omni-wheel base or a newer two-wheel base. It is controlled via LeRobot from a laptop or Raspberry Pi, with keyboard, gamepad, Joy-Con and Quest VR teleop plus simulation for RL and VLA training.
At a glance
| Parts cost | $660 project · Stated by the project for the basic version in the US, controlled from a laptop. Printing, tools, shipping and tax are not included source ↗ |
|---|---|
| Difficulty | 3/5 Intermediate · Mechanically simple but a large servo count, and the software (LeRobot, VR, sim, VLA) needs solid Python and Linux skills. |
| Build time | Under 4 hours of assembly (project claim; printing not included) source ↗ |
| Tools needed | 3D printer (consumer printer such as a Bambu A1; about $15 to $25 of PLA), screwdrivers, no soldering |
| Motors | 17 Feetech STS3215 12V servos (12 arms, 3 base, 2 head) |
| Controller | Laptop or optional Raspberry Pi 5, Feetech/Waveshare bus servo boards |
| Sensors | Head RGB camera (Logitech C920 or stereo cam; optional RealSense D415), 2 wrist cameras |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✓ Video ReadTheDocs website + GitHub + YouTube/Bilibili assembly video + Discord |
| Activity | Last update 2026-09-24 · 5,565 GitHub stars · Discord; 617 GitHub forks |
| Kits | WowRobo developer assembly kit ($579 worldwide, excludes battery and IKEA cart) |
Licenses
| Design files | Apache-2.0 (repo-wide LICENSE; STLs in hardware folder) source ↗ |
|---|---|
| Code | Apache-2.0 (XLeVR subfolder is MIT) source ↗ |
| Documentation | Apache-2.0 (docs source is in the same repo; ReadTheDocs pages show no separate license) source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- Many builders' omni-wheel base didn't touch the ground once mounted under the IKEA cart. The fix is a taller printed base connector plus printed washers under the cart's casters to level it. source ↗
- The original wheel-to-servo joint, inherited from LeKiwi, relies on a single screw and tends to work loose. An improved wheel connector STL (0.3.0) adds a printed friction washer and needs a slightly longer M3 screw. source ↗
- A frequent first-run error is a missing servo ID on the bus (for example ID 7 for the head). It usually traces to a servo that the Feetech debug tool can detect but not program, or to a cabling fault. source ↗
- A two-wheel differential base was released in late 2025. It comes in a Feetech-servo version planned for the kit and a faster brushless scooter-motor version that the author said would be open sourced separately. source ↗
Other wheeled plans
- Donkey Car · $250–$300 · difficulty 2/5
- LeKiwi · $480 · difficulty 2/5
- OpenBot (smartphone robot) · $50 (2020) · difficulty 2/5
- F1TENTH (RoboRacer) autonomous race car · $3,000 · difficulty 3/5
- OpenMower · $790 · difficulty 3/5
- Upkie wheeled biped · $4,600 · difficulty 4/5
- TidyBot++ · $5,200–$6,300 (2024) · difficulty 4/5
- NVIDIA JetBot · $640 (2024) · difficulty 2/5
- MuSHR racecar · $1,100 (2022) · difficulty 3/5