XLeRobot Dual-Arm Mobile Home Robot

XLeRobot is a low-cost, open-source dual-arm mobile robot purpose-built for embodied AI experiments and household manipulation tasks. The design keeps the bill-of-materials under $660 and can be fully assembled in under four hours, making it one of the most accessible research-grade mobile manipulators available today. Each arm offers 5 degrees of freedom (shoulder pan/tilt, elbow, wrist rotate, gripper) driven by low-cost MG996R servos, giving a 300 g payload per arm and a 340 mm reach—enough to open drawers, pick up toys, or water plants. A Raspberry Pi 4 handles high-level planning while an ESP32 sub-controller streams servo telemetry at 50 Hz, so you can run reinforcement-learning or imitation-learning loops entirely on-board. The wheeled base (2× 135 RPM TT motors) carries a 3-D-printed torso that neatly stows a 12 V/7 Ah Li-Po battery for ≈2 h of untethered operation. What sets XLeRobot apart is its modular, maker-friendly construction: every plastic part is printable on a200 × 200 mm bed, the servo horns are standard 25-T, and the CAD, firmware, and training notebooks are released under the MIT license by creator Vector Wangel. The repo includes URDF, MuJoCo, and NVIDIA Isaac Gym assets, so you can sim-to-real migrate policies in an afternoon. A single USB-C cable flashes both micro-controllers; from unboxing to first closed-loop grasp can literally take a weekend, not weeks.

Build Guide

Full documentation, assembly instructions, and BOM: xlerobot.readthedocs.io