AlohaMini#

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AlohaMini is a dual-arm mobile robot with a motorized vertical lift — beautifully designed, fully 3D-printable, and affordable.

Built for embodied AI research and real-world manipulation. Assemble at home in ~60 minutes, customize every part, and train or deploy with LeRobot.

Note: Use ROS only if you need URDF visualization, RViz inspection, or Gazebo simulation.

Updates#

  • [2026-02-26] Update the fine-tuning and deployment guide for Pi 0.5 on Alohamini (‘examples/pi0.5_openpi’)

  • [2025-12-18] URDF and simulation assets are now available for visualization and simulation (simulation/src/Aloha/)

  • [2025-11-27] STEP (CAD) files are now available (/hardware/mobile_base/step/)

What Makes It Different#

  • Motorized vertical lift — 0–60 cm travel (floor-to-table reach)

  • 5-camera perception system — top, front, back, and dual arm cameras engineered for embodied-AI reproducibility

  • Completely open-source — hardware and software freely available

  • LeRobot-compatible — works out of the box

  • Clean, modern design — built for both function and aesthetics

  • Low-cost & accessible — engineered so anyone can build a capable robot at home

⚙️ Bill of Materials (BOM)#

Main Components#

Component

Model / Notes

Qty

Unit Price (USD)

Servo motors

Feetech STS3215 (12V bus)

16

$13.89

Motor control boards

Waveshare Bus Servo Adapter (A)

2

$10.55

Compute platform

Raspberry Pi 5 (4/8GB)

1

$80

Cameras

720p USB cameras (2 for arms, 3 for mobile base)

5

$20

Mobility system

Omni wheels

3

$36.00

Battery

12V Li-ion pack

2

$32.99

Frame

3D-printed body (ABS / PETG / PLA)

—

~4kg filament (self-print)

Total

—

—

~$600 (self-print)

Note:

  • Printable STL files under /hardware/

  • Compute platform can be replaced with Jetson Nano or similar SBCs if desired.

  • URDF files will be released soon

Quick Start#

Start building and running AlohaMini:

  1. Hardware acquisition — Purchase components and 3D print parts
    See BOM & 3D-Print

  2. Assembly — build the robot in ~60 minutes (SO-ARM pre-assembled)
    See assembly guide

  3. Software setup & teleoperation — install, connect, and control the robot
    See software guide

Product Line#

Model

Build

Rigidity

Target Users

Official Store (US)

Official Store (CN)

AlohaMini

Fully 3D-printed

Standard

Education, makers, research labs, home builds

-

taobao

AlohaMini Pro

Hybrid 3D-print + metal

~3×–5× stiffer

Researchers needing plug-and-play, stable hardware

-

taobao

Same URDF & control stack across both versions — only structural materials differ.
Official store links are optional purchase channels for complete robots / kits.
AlohaMini remains open-source and can be self-built from the BOM, 3D-print files, and assembly docs.

Contact#

Email: liyiteng+github@gmail.com
WeChat: liyiteng
Videos & tutorials soon on: Bilibili / YouTube / TikTok

Team#

AlohaMini is created by:
Li Yiteng / Wu Zhiyong

Acknowledgements#

Thanks to the open robotics community:
ALOHA · LeKiwi · SO-ARM100 · SO-ARM100-Track-Axis · Pi-0.5 · LeRobot · Hugging Face

⭐ Support AlohaMini#

If you like this project:

  • ⭐ Star the repo

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  • 💬 Join the community