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SO-ARM101 (SO-101) is an open-source, low-cost 6-DoF articulated robot arm co-developed by The Robot Studio and Hugging Face. Built around Feetech STS3215 serial-bus servos and 3D-printed parts, it ships as an affordable leader/follower kit with native Hugging Face LeRobot support, making it a popular platform for imitation-learning and teleoperation research.
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The SO-ARM101 (commonly SO-101) is the flagship open-source robot arm of the LeRobot ecosystem. It is a 6-degree-of-freedom articulated arm driven entirely by Feetech STS3215 serial-bus servos, with the follower arm using 6x STS3215 motors (1/345 gearing) and the leader arm using differently geared motors so it can be back-driven by hand for teleoperation. The design is fully open under Apache-2.0: the bill of materials and 3D-print files are published on the TheRobotStudio/SO-ARM100 GitHub repository, and pre-sourced kits are sold by partners such as Seeed Studio and Waveshare (leader kit ~$120, follower kit ~$150). Native integration with Hugging Face LeRobot means it works out of the box for calibration, teleoperation, dataset recording, and imitation-learning policy training. Two leader/follower pairs form the SO-ARM101 Dual bimanual platform.
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