so-101 Robotic Arm

I have finished builidng a 2nd SO-101 to serve as the leader arm for teleoperation. Additionally I discovered that my on arm camera was having visual glitches, and have since swapped out the cameras. Currently with those issues fixed I am training the arm to place an object in the box, then take it out as to have a fully closed loop where it can both perform an action and reset it's environment.

I am now using phone teleoperation to collect training data for placing various objects into a cup. I am also working on a program to collect training data from the robot's autonomous operation, aiming to train a model to perform the task more reliably using only autonomously collected data.

I built a small program for my Music and Coding class that allows the robot to play any melody in the C major scale. The video above shows the robot playing Twinkle Twinkle Little Star. This was a simple project to familiarize myself with the basics of robot control for my SO-101.

I built this SO-101 robotic arm using servos and 3D-printed parts and am currently setting it up using LeRobot. I plan to research how to collect meaningful data using self-supervised play and data collection. I will then use this data to train the robot to perform tasks.