Picking pens.
Overview
An aluminum rebuild of the SO-100 robotic arm. The original design uses 3D-printed structural parts; this version replaces them with 20x20 aluminum extrusions.
Hardware
- Motors: 6x ST3215 serial bus servos
- Frame: 20x20 aluminum extrusions
- Printed Parts: PLA/PETG (STLs in repo)
Inference
Software
Runs on the LeRobot stack.
Teleoperation
Typically arm setups require a second leader arm for teleoperation. I wrote a custom teleoperation method that uses an Xbox controller instead.