DYNAMIXEL LeKiwi Launch

DYNAMIXEL Showcase
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:rocket: Introducing our Dynamixel-powered redesign of LeKiwi — an open-source, low-cost holonomic drive mobile manipulator developed by SIGRobotics at UIUC :robot:

We’ve upgraded LeKiwi to use:
:wrench: The Koch v1.1 robotic arm
:video_game: The U2D2 motor controller
:gear: Dynamixel XL-430 smart servos for a robust and smooth-driving mobile base
:hammer_and_wrench: TurtleBot3 (TB3) base plates for a standardized, modular platform

:brain: LeKiwi runs onboard compute using a Raspberry Pi 5,
:camera: with dual cameras for both workspace and wrist views — ideal for teleoperation, data collection, and vision-based learning

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LeKiwi is fully integrated with LeRobot, making it easier than ever to:
:hammer_and_wrench: Calibrate hardware
:video_game: Teleoperate
:chart_with_upwards_trend: Collect data with built-in logging
:package: Use or contribute to open datasets and pretrained models — all in Python :snake:

:white_check_mark: Whether you’re a student, hobbyist, or researcher, LeKiwi offers a hands-on platform for robot learning and experimentation.

:raised_hands: Build your own: Check out the design, build, and software instructions on our GitHub :eyes:

:speech_balloon: Want to get involved or ask questions?
Join our Discord: SIGRobotics
Follow us on X: https://x.com/sigrobotics

Here’s some cool demo videos:

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Thank you so very much for sharing your project :+1:

I have reviewed the BOM listed on your GitHub pages, and I am still confused by how you powered the whole robot. Your video shows that you can use the robot with battery power only. The BOM shows only 1 battery rated for 12V and 5A and 2 wall-plugged PS - one for 5V and one for 12V. Can that single 12V 5A battery power the whole robot as seen in the videos?

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Yes, that single 12v 5a (rechargeable) Li-ion battery powers the entire robot as shown in the video.

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Good Find! For RPi5, I thought that I had to go with fancier UPS HAT solutions, using 21700 batteries, that overall would cost practically double. But they do have more bells and whistles!