"Shoebill" Leader & Follower - LeRobot Compatible, GELLO Leader Kinematics, 7 DoF

Robotic arms with improvements over SO-101 design (adds one DoF) and identical leader kinematics to GELLO, for ARX, Trossen, and I2RT follower arms.

Custom designed Leader/Follower robotic arms using FeeTech servos and 3D printed parts. These robotic arms are designed as an improvement over the SO-101 design, with an additional degree of freedom. They also have identical kinematics to the GELLO leader arms and common follower arms like the ARX, Trossen, and YAM arms, making them great for teleop R&D.

These leader/follower kits are designed for hobbyists, and the leader arms are designed for robotics research labs like ourselves. Our open source servo SDK is pip installable and has torque-set functionality: https://github.com/vassar-robotics/feetech-servo-sdk . You should be able to figure out force feedback in an afternoon.

https://youtube.com/shorts/M9KmD0DPkaw

They also include everything you need to operate them out of the box, including table clamps, an SDK for running basic code like teleop and re-calibration, and instructions on how to use the LeRobot ACT training policy infrastructure ( https://huggingface.co/docs/lerobot/en/installation ). Lead time of 3-5 days. 

WHAT'S INCLUDED:

• LEADER ARM:
  • Based on GELLO Leader Arm design, follows the same kinematics as ARX, Trossen, and I2RT follower arms for 1:1 joint mapping
  • Custom designed torsion-spring gripper design is easy to use and is normally open
  • FeeTech HLS3625 servos have torque position setting capability allowing for force-feedback paradigms, using our open source Vassar-FeeTech SDK

• FOLLOWER ARM
  • End effector based on designs from UMI at Stanford, with compliant TPU material that provides higher dexterity
  • 7 Degrees of Freedom more closely mimics human joint structure than 6 DoF, enabling higher dexterity
  • 12V Feetech servos with 3 N·m output torque

*Designed for hobbyists and research labs. Not intended for safety-critical use.

P.S.: ONE CUSTOMER will receive a Nylon (SLS printed) version of the leader arm, which is epic. It's like a Ferrari.