SO100 Robot Arm: The Complete Guide (2026)

Everything you need to know about the SO-ARM100 — specs, setup, where to buy, and how to get started with AI robotics.

What is the SO100 Robot Arm?

The SO100 (also known as the SO-ARM100) is an open-source 6-DOF (six degrees of freedom) robotic arm designed by The Robot Studio in collaboration with Hugging Face. It was created as the hardware companion to LeRobot, Hugging Face's open-source robotics framework for AI and machine learning.

The SO100 has quickly become one of the most popular robot arms in the world for hobbyists, students, researchers, and AI engineers. Hugging Face CEO Clément Delangue called it one of the "most popular robot arms ever."

SO100 Specifications

Spec	Detail
Degrees of Freedom	6 DOF
Servo Motors	STS3215 bus servos (30 kg·cm torque)
Controller	Waveshare servo driver board
Connectivity	USB-C
Frame	3D-printed (or pre-assembled)
Weight	~500g assembled
Reach	~30cm
Power Supply	5V USB or 7.4V DC
Software	LeRobot (Hugging Face), ROS2, Python SDK
Price Range	$100–$350 depending on configuration

SO100 vs SO101: What's the Difference?

Many people search for "SO100 vs SO101" — here's the breakdown:

SO100 (SO-ARM100): The original 6-DOF robot arm. Designed for desktop use. Ideal for pick-and-place, imitation learning, and AI research. Uses a follower + leader arm configuration for teleoperation.
SO101 (SO-ARM101): A newer, slightly upgraded version with improved joint design. Compatible with the same LeRobot software stack. Reviewed by CNX Software and other tech outlets.

Both arms work with LeRobot and share the same servo motors (STS3215). The SO101 has minor mechanical improvements but the core functionality is identical. If you're starting out, the SO100 is the proven choice with the largest community. For a full head-to-head breakdown, read our SO100 vs SO101 detailed comparison.

What is LeRobot?

LeRobot is Hugging Face's open-source robotics framework. Think of it as "the Hugging Face Transformers library, but for robots." It lets you:

Record demonstrations using teleoperation (leader + follower arm)
Train AI policies using imitation learning (ACT, Diffusion Policy, etc.)
Deploy trained models back to the physical robot
Share datasets and models on the Hugging Face Hub

LeRobot supports the SO100 natively. It's the fastest way to go from zero to a working AI robot.

LeRobot + SO100 Quickstart

Unbox and assemble your SO100 (or buy pre-assembled)
Install LeRobot: pip install lerobot
Connect your leader and follower arms via USB-C
Calibrate: python -m lerobot.calibrate
Record demonstrations: python -m lerobot.record
Train a policy: python -m lerobot.train
Deploy: python -m lerobot.deploy

That's it. You can have an AI-controlled robot arm running in under an hour. For a detailed walkthrough, check out our complete LeRobot setup tutorial.

Where to Buy the SO100 Robot Arm

Option 1: Buy Pre-Assembled (Recommended)

SO100 Complete Kit — $299 at so100.nanocorp.app

Our pre-assembled SO100 kit ships ready to use. No 3D printing, no soldering, no hunting for parts. Includes:

✅ Fully assembled SO100 leader arm
✅ Fully assembled SO100 follower arm
✅ 12x STS3215 servo motors (pre-installed)
✅ 2x Waveshare servo driver boards
✅ USB-C cables
✅ Power supply
✅ Setup guide with LeRobot instructions

Why buy pre-assembled? (See our full pre-assembled vs DIY cost analysis)

Skip 20+ hours of 3D printing and assembly
Professional assembly quality — no loose screws or misaligned joints
Tested before shipping
Ships from the US — fast delivery, no tariff surprises

Option 2: DIY (3D Print It Yourself)

If you have a 3D printer and want to build it yourself:

Download STL files from the Hugging Face SO100 repo
Order STS3215 servos (6 per arm, 12 total) — ~$60-80
Order Waveshare servo driver boards (2x) — ~$20
Print all parts — takes 20-40 hours depending on your printer
Assemble — takes 3-5 hours

Total DIY cost: ~$150-200 + your time

Other Vendors

WowRobo — Chinese manufacturer, often sold out
Seeed Studio — Sells kits but shipping from China
PartaBot — European vendor

What Can You Build with the SO100?

The SO100 is a platform — here's what people are building:

🤖 Imitation Learning

Record yourself performing a task (picking up objects, stacking blocks, pouring water) and train an AI to replicate it. This is the #1 use case. Learn how in our beginner's guide to imitation learning.

🏭 Pick and Place Automation

Sort objects, move items between locations, or automate simple assembly tasks.

🎓 Education & Research

Universities use SO100 arms in robotics and AI courses. It's affordable enough to give every student their own arm.

🎨 Creative Applications

Drawing, painting, calligraphy — people have trained SO100 arms to create art.

🔬 Sim-to-Real Research

Train policies in simulation (Isaac Sim, MuJoCo) and deploy to the physical SO100.

Frequently Asked Questions

Is the SO100 compatible with ROS2?

Yes. There are community-maintained ROS2 packages for the SO100. However, most users prefer LeRobot for its simplicity.

Do I need two arms?

For teleoperation and imitation learning, yes — you need a leader arm (you control) and a follower arm (the robot). Our kit includes both.

What computer do I need?

Any modern laptop or desktop with USB-C. For training AI models, a GPU (NVIDIA RTX 3060 or better) is recommended but not required — you can train on Hugging Face's cloud infrastructure.

Can I use the SO100 with a Raspberry Pi?

Yes, for deployment. You'll want a more powerful machine for training.

How does the SO100 compare to industrial robot arms?

The SO100 is designed for learning and prototyping, not industrial production. It's in a completely different category than arms from Universal Robots, FANUC, or ABB. Think of it as the Arduino of robot arms.

Is the SO100 open source?

Yes, fully. Hardware designs (STL files), firmware, and software (LeRobot) are all open source.

Ready to Get Started?

Buy the SO100 Complete Kit — $299 →

Pre-assembled. Tested. Ships from the US. Compatible with LeRobot out of the box.