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Overview
**3D Printed Parts are now available to purchase as an option at the top of the page.**
Please note: All 3D printed items are made to order, and all sales are final. 3D printed items cannot be canceled or refunded.
LeKiwi – Low-Cost Mobile Manipulator (DYNAMIXEL Edition)
Developed by the SIG Robotics team at the University of Illinois Urbana-Champaign, the LeKiwi mobile manipulator has been reengineered to harness the power and reliability of ROBOTIS components—offering a low-cost, high-performance platform for research, education, and prototyping.
This version features a seamless integration of the Koch v1.1 robotic Leader and Follower arm, DYNAMIXEL XL430 smart actuators for the mobile base, and the U2D2 motor controller for streamlined communication. It's fully compatible with the adapted LeKiwi codebase, ensuring quick setup and ease of use for both beginners and advanced users.
Key Features:
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Fully integrated with ROBOTIS DYNAMIXEL ecosystem
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Mobile base powered by XL430 smart actuators
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Lightweight Koch v1.1 arm for versatile manipulation tasks and AI learning via Teleoperation
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U2D2 controller for robust USB-to-serial control
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Compatible with the original LeKiwi codebase (DYNAMIXEL conversion)
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Ideal for ROS-based applications, classroom use, and hands-on learning
Please Note: This bundle includes only official ROBOTIS hardware components. 3D printed are available as an option at the top of the page, but the other components are not included.
Bill of Materials:
| SKU | Description |
Quantities
|
| 902-0162-000 | DYNAMIXEL XL330-M077-T | 6 |
| 902-0135-000 | DYNAMIXEL XL430-W250-T | 5 |
| 903-0259-000 | TB3 Waffle Plates (8 Pack) | 1 |
| 902-0163-000 | DYNAMIXEL XL330-M288-T | 4 |
| 903-0302-000 | FPX330-H101 | 2 |
|
902-0132-000 |
U2D2 | 1 |
| 902-0145-001 | U2D2 PHB | 1 |
| 903-0265-000 | HN11-I101 | 1 |
Whether you're building the future of automation or simply exploring mobile manipulation, the LeKiwi DYNAMIXEL Edition is your perfect launchpad.
The complete project repository includes all the necessary information for construction of the platform and detailed assembly instructions provided in both text and video format. A 3D printer is necessary for printing all required parts. The files for 3D printing are provided in the repository.
GIT: Project Repository
BOM: Complete Bill of Materials
Assembly: For step-by-step hardware assembly