Overview

The SO-ARM101 Dual is the bimanual configuration of The Robot Studio's SO-ARM100/101 open-source arm family. A full teleoperation rig pairs two leader arms (backdriven by the operator) with two follower arms, giving 4 total arms; a follower-only variant can be run for autonomous bimanual policies. Every arm is 3D-printed and actuated by six Feetech STS3215 serial-bus servos, and the whole system integrates natively with the Hugging Face LeRobot library, making it the dominant low-cost platform for collecting bimanual imitation-learning datasets (the bi_so101 dataset family). Payload is very low (~0.2–0.5 kg per arm) and the arms are host-PC driven rather than carrying onboard compute.

Highlights

• Fully open-source under Apache-2.0: CAD/STEP, 3D-print STLs, firmware and LeRobot integration all public
• Dominant bimanual platform in the LeRobot community for ACT / imitation learning; many bi_so101 datasets exist
• Extremely cheap: ~$200–600 for a full dual leader+follower set; kits from Seeed Studio and Waveshare
• Designed by The Robot Studio in collaboration with Hugging Face
• Composed of 4x SO-ARM101 arms (2 leaders + 2 followers), each 6-DoF on Feetech STS3215 servos
• Follower-only mode (2 arms) supported for autonomous bimanual policies

Specifications