Development of Dual Scorpion

Based on the LeRobot so-101 5DoF + Gripper, we have newly designed the “Dual Scorpion” dual-arm robot. This robot is designed with a balance between functionality and cost-effectiveness, aimed at imitation learning and educational robotics development.

GitHub repository of the Dual Scorpion design

https://github.com/momoiorg-repository/dual_scorpion

Video

What is Dual Scorpion?

The name “Dual Scorpion” comes from the shape of the robot, which resembles a scorpion. Additionally, it is designed with the idea that the robot and a human will cooperate through teleoperation, hence the name “Dual.”

Building upon the original LeRobot so-101 5DoF + Gripper design, we created a new new_dof.stl to upgrade it to 6DoF + Gripper, and then further extended this design to 7DoF (7-axis) + Gripper. This extension achieves a wider range of motion, bringing it closer to a humanoid dual-arm robot.

Goals and Purpose

Beginner-friendly Dual-arm Robot Development

Dual Scorpion is primarily intended for educational use. It provides an environment where students and beginners in research can easily engage in robot-based research, development, and learning. Normally, to conduct imitation learning, expensive robots (costing over $20,000 USD) are required. However, this robot allows hands-on experimentation and development with a real robot at a cost of approximately $637 USD. Moreover, those who already own the SO-101 can easily upgrade it by adding just additional motors and parts.

Design and Features

＊Unique Custom Parts

Metal Frame: Uses metal rods available at home improvement stores.

＊Components Used

• Frame: [N Series] GFun Frame N 450 SGF-0004 and connectors.
• Shoulder: Designed using 3D printing, with space for the motor mount cover of Joint 0. The structure allows for secure motor fixation while ensuring shoulder mobility.
• Motor Mount Covers: Designed for easy motor attachment, enhancing safety during operation.
• New Rotational Axes: General-purpose parts that can be used when extending the LeRobot from 5-axis to 6-axis and further to 7-axis.
• Base: Features two through holes, allowing easy attachment to a table or vehicle. This design balances stability and expandability.

Key Specifications

• Degree of Freedom: 7DoF (7-axis) + Gripper × 2 (dual-arm)
• Base: Extends from LeRobot 5DoF + Gripper to 6DoF and then evolves to 7DoF.
• Cost: Approximately $637 USD
• Features: Built using components available at home improvement stores, easy to fix to vehicles or tables.

Future Developments

Dual Scorpion is developed for educational and research purposes, utilizing imitation learning. Further improvements are planned for future iterations.