Koch v1.1
by Jess Moss / Alexander KochArmLeRobot: official
5-DOF printed arm on Dynamixel XL430/XL330 servos, the original LeRobot teleop pair. Less torque and base range than the SO-ARM but a gentler path into the Dynamixel ecosystem.
Specs
- Type
- Arm
- Degrees of freedom
- 5
- Actuators
- Dynamixel
- Open hardware files
- Yes
- Motors
- 2× Dynamixel XL430-W250-T (follower)
- 4× Dynamixel XL330-M288-T (follower)
- 6× Dynamixel XL330-M077-T (leader)
- Simulators
- MuJoCo
- LeRobot types
- koch_follower, koch_leader
- Docs quality
- 4 of 5 for the build guide, editor's rating
Price and where to get it
$199–$477
Leader ≈ $199; follower ≈ $278; pair ≈ $477 (README US BOM)
KitDIY / print it
Sold by
Project
- Website
- github.com
- Source
- jess-moss/koch-v1-1
- Docs
- huggingface.co
Activity
GitHub stars731
Forks67
Last push24 mo ago2024-09-17
HF datasets766matching “koch”
Fetched 2026-09-15. Dataset count is an approximate name match on the Hugging Face Hub, not a ground-truth tally.
Spotted an error in this entry? Send a correction and it will be credited in the changelog.