{"id":583,"date":"2025-11-20T09:55:44","date_gmt":"2025-11-20T00:55:44","guid":{"rendered":"https:\/\/momoi.org\/?p=583"},"modified":"2025-11-20T09:55:44","modified_gmt":"2025-11-20T00:55:44","slug":"lerobot-so-101-based-dual-arm-robot-design-released","status":"publish","type":"post","link":"https:\/\/momoi.org\/?p=583","title":{"rendered":"LeRobot so-101 based dual arm robot design released"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Development of Dual Scorpion<\/h2>\n\n\n\n<p>Based on the LeRobot so-101 5DoF + Gripper, we have newly designed the \u201cDual Scorpion\u201d dual-arm robot. This robot is designed with a balance between functionality and cost-effectiveness, aimed at imitation learning and educational robotics development.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">GitHub repository of the Dual Scorpion design<\/h2>\n\n\n\n<p><a href=\"https:\/\/github.com\/momoiorg-repository\/dual_scorpion\">https:\/\/github.com\/momoiorg-repository\/dual_scorpion<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Video<\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Dual Scorpion: Affordable 7DoF Dual-Arm Robot for Learning and Development\" width=\"740\" height=\"416\" src=\"https:\/\/www.youtube.com\/embed\/a1u_bPGSeXs?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">What is Dual Scorpion?<\/h2>\n\n\n\n<p>The name &#8220;Dual Scorpion&#8221; 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 &#8220;Dual.&#8221;<\/p>\n\n\n\n<p>Building upon the original LeRobot so-101 5DoF + Gripper design, we created a new <code>new_dof.stl<\/code> 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.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Goals and Purpose<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">Beginner-friendly Dual-arm Robot Development<\/h3>\n\n\n\n<p>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 <strong>$637 USD<\/strong>. Moreover, those who already own the SO-101 can easily upgrade it by adding just additional motors and parts.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Design and Features<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">\uff0aUnique Custom Parts<\/h3>\n\n\n\n<p><strong>Metal Frame<\/strong>: Uses metal rods available at home improvement stores.<\/p>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\uff0aComponents Used<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Frame<\/strong>: [N Series] GFun Frame N 450 SGF-0004 and connectors.<\/li>\n\n\n\n<li><strong>Shoulder<\/strong>: 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.<\/li>\n\n\n\n<li><strong>Motor Mount Covers<\/strong>: Designed for easy motor attachment, enhancing safety during operation.<\/li>\n\n\n\n<li><strong>New Rotational Axes<\/strong>: General-purpose parts that can be used when extending the LeRobot from 5-axis to 6-axis and further to 7-axis.<\/li>\n\n\n\n<li><strong>Base<\/strong>: Features two through holes, allowing easy attachment to a table or vehicle. This design balances stability and expandability.<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Key Specifications<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Degree of Freedom<\/strong>: 7DoF (7-axis) + Gripper \u00d7 2 (dual-arm)<\/li>\n\n\n\n<li><strong>Base<\/strong>: Extends from LeRobot 5DoF + Gripper to 6DoF and then evolves to 7DoF.<\/li>\n\n\n\n<li><strong>Cost<\/strong>: Approximately <strong>$637 USD<\/strong><\/li>\n\n\n\n<li><strong>Features<\/strong>: Built using components available at home improvement stores, easy to fix to vehicles or tables.<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Future Developments<\/h2>\n\n\n\n<p>Dual Scorpion is developed for educational and research purposes, utilizing imitation learning. Further improvements are planned for future iterations.<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Development of Dual Scorpion Based on the LeRobot so-101 5DoF + Gripper, we have newly designed the \u201cDual Scor [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-583","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/posts\/583","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=583"}],"version-history":[{"count":2,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/posts\/583\/revisions"}],"predecessor-version":[{"id":585,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/posts\/583\/revisions\/585"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=583"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=583"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=583"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}