AlohaMini2#

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适用型号请结合本页硬件配置确认。

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AlohaMini2 is a dual-arm mobile robot with a motorized vertical lift — a major generational upgrade over AlohaMini1 while keeping the self-build BOM under $1,000.

Fully 3D-printable on a Bambu P2S, built for embodied AI research, and priced for anyone serious about real-world manipulation.

Assemble at home in ~120 minutes. Train or deploy with LeRobot.

Updates#

  • [2026-06-06] AlohaMini2 released — 70 kg base load, 30 kg lift, 1 kg arm payload, 6+1 DoF, 52 cm reach, under $1,000 self-build BOM

  • [2026-02-26] Fine-tuning and deployment guide for Pi 0.5 on AlohaMini (examples/pi0.5_openpi)

  • [2025-12-18] URDF and simulation assets available (AlohaMini1/simulation/src/Aloha/)

  • [2025-11-27] STEP (CAD) files available (AlohaMini1/hardware/mobile_base/step/)

What's New in AlohaMini2#

Architecture#

AlohaMini

AlohaMini2

Arm system

SO-ARM100 / SO-ARM101

AM-ARM200

Mobile base system

mobile_base1

mobile_base2

Printer requirement

Large-format FDM (>= 380 mm bed)

Bambu P2S (consumer-grade)

Performance#

AlohaMini

AlohaMini2

Base max load

10 kg

70 kg

Lift capacity

5 kg

30 kg

Lift stability

Standard

Significantly reinforced

Arm payload

0.3 kg

1 kg

Arm reach

40 cm

52 cm

Arm DoF

5+1

6+1

Cameras

5

5 (forward, backward, chest, dual wrist)

AlohaMini2 is LeRobot-ready out of the box and remains fully open-source — hardware CAD, URDF, and software included.

Bill of Materials (BOM)#

This BOM lists only the robot's major components, excluding the leader arm.

Component

Model / Notes

Qty

Unit Price (USD)

Servo — standard

Feetech STS-3215 (12V, follower arms + base)

11

~$16

Servo — high-torque

Feetech STS-3095 (12V 95 kg·cm, lift + arm power joints)

7

~$50

Bus servo controllers

Waveshare

2

~$5

Compute

Raspberry Pi 5 (2 GB)

1

~$93

Cameras

720p USB, 2.4 mm focal length

5

~$17

Omni wheels

127 mm (74A)

3

~$40

Battery 12V

11200 mAh Li-ion

2

~$16

Frame

3D-printed on Bambu P2S

—

~6 kg filament

Total

—

—

~$950

Full BOM with CN/US buy links: AlohaMini2/docs/BOM.md
Compute can be swapped for Jetson Orin Nano or any SBC with USB 3.0.

Quick Start#

  1. BOM — review the component list and source parts
    See Bill of Materials

  2. 3D Printing — print all structural parts (~6 kg filament, Bambu P2S)
    See Print Guide

  3. Assembly — build in ~120 minutes (arms pre-assembled)
    See Assembly Guide

  4. Software setup & teleoperation — install, connect, control
    See Software Guide

Product Line#

Model

Servo System

Chassis

Best For

Official Store (CN)

AlohaMini2

STS-3215 standard servos

3D-printed base

Self-build research and development

Taobao

AlohaMini2 Pro

STS-3250 industrial-grade servos

Metal-reinforced base

Higher-duty research and lab use

Taobao

Contact#

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

Team#

AlohaMini is created by Li Yiteng and 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 find this project useful:

  • Star the repo

  • Follow for updates

  • Join the community on Discord