What's news：
- Wiring optimization: Compared to SO-ARM100, SO-ARM101 features improved wiring that prevents disconnection issues previously seen at joint 3. The new wiring design also no longer limits the range of motion of the joints.
- Different gear ratios for the leader arm: The leader arm now uses motors with optimized gear ratios, improving performance and eliminating the need for external gearboxes.
- New functionality support: The leader arm can now follow the follower arm in real-time, which is crucial for the upcoming reinforcement learning (RL) policy, where a human can intervene and correct the robot’s actions.
Features of SO-ARM 10x Sereies:
- Open-source and low-cost : It is an open-source, low-cost robotic arm solution from TheRobotStudio .
- Integration with LeRobot : Designed for integration with LeRobot platform which offers PyTorch models, datasets and tools for reinforcement learning and imitation learning for real-world robotics applications (including data collection, simulation, training and deployment).
- Abundant learning resources : Provides comprehensive open-source learning resources like assembly and calibration guides, and tutorials for testing, data collection, training and deployment to assist users in quickly getting started and developing robotic applications.
- Compatible with Nvidia : Deploy this arm kit with reComputer Mini J4012 Orin NX 16 GB.
Note: Seeed Studio only provides the hardware required for LeRobot.
Specification
| SO-ARM10x Low-Cost AI Arm Kit and Arm Kit Pro | ||||
| Type | SO-ARM100 | SO-ARM101 | ||
| Arm Kit | Arm Kit Pro | Arm Kit | Arm Kit Pro | |
| Leader Arm | 12x (7.4V) 1:345 gear ratio motors for all joints | 12x (12V) 1:345 gear ratio motors for all joints | 1x (7.4V) 1:345 gear ratio motor for No.2 joint | |
| 2x (7.4V) 1:191 gear ratio motors for No.1 and No.3 joints | ||||
| 3x (7.4V) 1:145 gear ratio motors for No.4, No.5 joints and the No.6 gripper | ||||
| Follower Arm | Same as SO-ARM100 | Same as SO-ARM100 | ||
| Power Supply | 5.5mm*2.1mm DC 5V4A | 5.5mm*2.1mm DC 12V2A | 5.5mm*2.1mm DC 5V4A | 5.5mm*2.1mm DC 12V2A For Follower Arm |
| 5.5mm*2.1mm DC 5V4A For Leader Arm | ||||
| Angle sensor | 12-bit magnetic encoder | |||
| Recommended Operating Temperature Range | 0℃～40℃ | |||
| Communication Method | UART | |||
| Control Method | PC | |||
Application
Imitation learning and Reinforcement learning
The LeRobot framework is compatible with the SO-ARM10x robotic arm. It provides complete data collection, training, and deployment for teaching the robotic arm, and also has a comprehensive simulation platform. On the Nvidia Jetson edge device, it's easy and quick to train a customized robotic arm to complete grasping and placing tasks. For detailed tutorials, please refer to: LeRobot - NVIDIA Jetson AI Lab