SO-ARM101 7-DOF Robotic Arm
Overview
The SO-ARM101 is an open-source robotic arm deeply optimized from the SO-ARM100. Revised cable routing and motor/gear pairings eliminate the joint cable-breakage problem, and the performance upgrades support real-time leader-follower following. This is the 7-DOF version: it adds a wrist roll (yaw) servo over the 6-axis model, giving the wrist far greater freedom of posture, more reachable points and multi-angle precision grasping.
It adapts to the Hugging Face LeRobot toolkit and connects directly to PyTorch models and shared datasets, so imitation learning and reinforcement learning are easy to put into practice. A complete assembly tutorial and DIY kit are included — students, researchers and makers can all work with intelligent robotics for learning, research and creation.
At a glance: 7-DOF with 90° wrist roll · 12V high-torque servos at 30kg.cm · optional TPU flexible gripper · dual-view data collection · onboard inference on NVIDIA Jetson and D-Robotics RDK · factory assembled and ready to use · supports ACT / SmolVLA / Pi0 / Pi0.5 / GR00T N1.5 model training.
Key Advantages
7 Degrees of Freedom with 90° Wrist Roll
The 7-DOF version adds a left/right wrist roll (yaw) servo to the 6-axis design, so the wrist can approach a target from far more angles and reach more points in the workspace. That extra freedom is what makes multi-angle, fine-grained grasping possible.
Leader-Follower Teleoperation & Imitation Learning
The arm integrates the Hugging Face AI framework. Teleoperate the leader arm to record demonstration motions, then train an imitation learning model in one pass and deploy the optimized policy. It can take on complex tasks and adapt to its environment, closing the automation loop end to end.
Dual-View Global Coverage
The arm-mounted camera captures the target's spatial position, angle and surface texture at close range for higher-fidelity data collection, while a desk-stand scene camera reads the workspace environment in real time. Together they keep operation precise, respond quickly to changes and prevent drift or stalling.
30kg.cm High-Torque 12V Bus Servos
The follower arm is unified at 7 × Feetech STS3215-C018 (12V, 30kg.cm, 1:345) to guarantee sufficient grasping torque under multi-axis load, while the leader arm stays at 7.4V to balance hand feel against cost. A 12-bit magnetic encoder delivers 0.088° precision on every axis.
Multi-Model Training Support
Train and deploy ACT, SmolVLA, Pi0, Pi0.5 and GR00T N1.5 policies on the same hardware, and reuse pretrained models such as lerobot/smolvla_base, lerobot/pi0_base, lerobot/pi05_base and lerobot/xvla-widowx directly from the LeRobot model hub.
Onboard Inference on NVIDIA and D-Robotics RDK
Connect a single cable to a Raspberry Pi, D-Robotics RDK or NVIDIA Jetson controller to run inference on the arm itself, with real-time motor control and encoder feedback.
Factory Assembled, Ready to Use Out of the Box
Every unit ships assembled, wired and calibrated — connect power and USB and the platform is ready for teleoperation and data collection.
Upgradeable Flexible Gripper
The flexible gripper is an upgrade of the standard rigid gripper, 3D printed in a flexible TPU material. It uses a hollow design with internal reinforcing ribs and works on a fin-type gripper principle: it conforms to the shape of the object being grasped, reducing the contact force applied to it — ideal for soft or easily damaged items (fruit, glassware, eggs, food processing) that a conventional rigid gripper cannot handle safely.
Specifications
| Category | Spec |
|---|---|
| Type | Leader-follower teleoperation robot arm |
| DOF | 7 (adds a wrist roll / yaw axis over the 6-axis model) |
| Follower arm servos | 7 × Feetech STS3215-C018 (12V, 30kg.cm, 1:345) |
| Leader arm servos | 7 × 7.4V STS3215 — damping version: 1 × C001 (1:345) + 2 × C044 (1:191) + 3 × C046 (1:147); zero-damping version: 7 × C066 |
| Encoder | 12-bit magnetic encoder (0.088° precision) |
| Power | Leader arm 5V6A / Follower arm 12V5A |
| Host | PC (Linux) / Raspberry Pi / D-Robotics RDK / NVIDIA Jetson |
| Ecosystem | Hugging Face LeRobot (ACT / SmolVLA / Pi0 / Pi0.5 / GR00T N1.5) |
| Gripper | Rigid PLA (standard) or flexible TPU (upgrade) |
| Assembly | Factory assembled, wired and calibrated |
Servo layouts and available package configurations are listed on the store page.
Tutorials
- SO-ARM101 7-DOF Full Course — environment setup, 7-DOF file replacement, calibration, teleoperation, data collection, training and inference, step by step
- 7-DOF File Replacement (adapt an official lerobot clone)
- SO-ARM101 Tutorial (6-axis)
- Robot Arm Selection Guide
- Embodied AI Intro (LeRobot)
Support
- 📧 Email: support@juxitech.com
- 🌐 Website: www.juxitech.com