Leader-Follower SO-100 Arms › LeRobot › Ubuntu
A personal build of teleoperated SO-100 6-DOF robot arms on Hugging Face's LeRobot framework. A leader arm and a follower arm run side by side; the follower mirrors the leader's joint positions in real time, which makes manipulation tasks feel direct instead of laggy.
I assembled the SO-100 hardware, wired up the motor control stack, calibrated joint offsets between the two arms, and wired the LeRobot pipeline for data collection. The result doubles as a platform for recording demonstration data for imitation learning.
LeRobot handles motor control, teleoperation, and data recording on Ubuntu. The follower arm mirrors the leader's six joint positions in real time, after driver installation and serial communication setup that took longer to debug than the control logic itself.
Both arms use STS3215 servo motors. I calibrated joint offsets and limits so leader and follower track each other accurately, then set up USB serial interfaces for low-latency commands and feedback. The same pipeline now records demonstration trajectories for future imitation-learning experiments.