🦾 reBot Arm Base Series
The Open-Source Robotic Arm for Every Developer
100% Open Source · Embodied AI · Full Hardware + Software Stack
🌐 Landing Page · 📚 Tutorial Center · ▶ Online Demo
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📑 Contents
📖 Introduction
reBot-DevArm — the reBot Arm B601-DM and reBot Arm B601-RS — is a robotic arm project dedicated to lowering the barrier to learning Embodied AI. We believe in true open source: not just the code, but everything, released without reservation.
- 🦾 Two arm models — All design files for the B601-DM (Damiao) and B601-RS (Robstride), two arms sharing the same appearance.
- 🛠️ Hardware blueprints — Source files for sheet-metal and 3D-printed parts.
- 🔩 BOM list — Detailed down to the spec and purchase link of every single screw.
- 💻 Software & algorithms — Python SDK, ROS1/2, Isaac Sim, LeRobot, and more.
🛒 Get Your reBot Arm
B601-DM Kit Options
Five kit options are available at SeeedStudio.com:
💡 The kit does not include a power adapter or C-clamps as standard, since you may power it with batteries or mount it on a custom DIY base. Get the official B601-DM Power Adapter Kit, purchase a power supply and power cord separately, or see the Mean Well solution at the bottom of the BOM.
B601-RS Kit Options
Five kit options are available at SeeedStudio.com:
💡 We recommend the Mean Well 48V 12.5A power supply for the RS model. For full performance, opt for a 48V 25A adapter. For a plug-and-play option, get the official B601-RS Power Adapter Kit.
Optional Accessories
Optional add-ons available at SeeedStudio.com:
Leader Arm (Optional)
Purchase the Leader Arm and a 12V 10A power supply; the 12V DC adapter of the SO-ARM101 also works.
🚀 Try the Online Simulation
Experience the reBot Arm B601-RS MuJoCo digital twin directly in your browser — no installation required. Switch between the standard arm and AGV configurations, control joints and TCP, view the overhead and D405 wrist cameras, and run the automated put-away and stacking demos. The initial model download may take a moment; Chrome or Edge is recommended.
🗺️ Roadmap and Status
We continuously maintain and adapt to mainstream robot development ecosystems. Below is our current progress and release plan.
reBot Arm B601-DM
| Ecosystem | Status | Description | Documentation |
|---|
| Basic Motor Usage | ✅ Done | Motion control and API encapsulation | Damiao Technology |
| STEP 3D Parts & BOM | ✅ Done | STEP files, parts BOM, and reference prices | reBot Arm B601-DM BOM |
| Real-Machine Performance Testing | ✅ Done | Performance under normal and extreme conditions | Performance Testing |
| Assembly Video | ✅ Done | Ultra-detailed assembly steps and video | Getting Started |
| Python SDK | ✅ Done | One-stop motor read/write & control (Robstride, Damiao, Mota, Gaoqing, Hexfellow…) | Motorbridge · Web UI |
| ROS2 Integration | ✅ Done | Kinematics, trajectory planning, gravity compensation | ROS2 Guide |
| Pinocchio Integration | ✅ Done | Forward/inverse kinematics and gravity compensation |
Community Contributions
| Ecosystem | Author | Description | Repository |
|---|
| ROS2 (Humble), third-party integration, URDF / rebotarm_bringup | @danieldoradotalaveron-rb | 1. Passive diagnostics monitor (rebotarm_monitor_ros2) — /diagnostics overlay for rqt_robot_monitor, serial/CAN-aware aggregator;2. Safe park & shutdown — capture rest pose on connect, slow return on shutdown or /rebotarm/park;3. Gravity compensation (smooth stop) — MIT ramp-out to eliminate clack and jerk during pos/vel handoff;4. Gamepad teleop with IK/FK & safety — end-effector control via IK, live RViz visualization (simulation-only test);5. D405 eye-in-hand TF — Xacro under end_link for RViz visualization & TF only. | rebotarm_monitor_ros2 · reBotArmController_ROS2 |
reBot Arm B601-RS
| Ecosystem | Status | Description | Documentation |
|---|
| Basic Motor Usage | ✅ Done | Motion control and API encapsulation | Robstride |
| STEP 3D Parts & BOM | ✅ Done | STEP files, parts BOM, and reference prices | reBot Arm B601-RS BOM |
| Getting Started | ✅ Done | Quick start for the B601-RS | Getting Started |
| Assembly Video | ✅ Done | Ultra-detailed assembly steps and video | Assembly Video |
| ROS2 (Humble) | ✅ Done | Kinematics, trajectory planning, gravity compensation, MoveIt2 | ROS2 Guide |
| LeRobot Integration | ✅ Done | Hugging Face LeRobot training framework | LeRobot Guide |
| Pinocchio Integration | ✅ Done | Forward/inverse kinematics and gravity compensation | Pinocchio Guide · |
Community Contributions
| Ecosystem | Author | Description | Repository |
|---|
| iPhone, HEBI Mobile I/O and Meta Quest teleoperation | @ammarjmahmood | Move a phone or a Quest controller and the gripper follows, using the relative pose mapping from TidyBot++ (CoRL 2024): native SwiftUI and ARKit iPhone app, HEBI Mobile I/O, WebXR passthrough on Quest, a 200 Hz MIT driver with gravity feedforward, IK on the official RS URDF and safety interlocks. Tested on a B601-RS with an iPhone 16 Pro Max. | rebot-phone-teleop |
| Handheld HMI, Zephyr RTOS / CAN / ROS 2 | @xiayip | A handheld terminal for reBot Arm RS with live joint telemetry, encoder-based position control, damping/impedance modes, hand-guided trajectory recording and replay, persistent Flash storage, and ROS 2 controller-switch requests. | reBot_Arm_HMI · Video demo |
⚙️ Hardware Specifications
Designed for desktop Embodied AI applications, balancing payload and flexibility.
| Parameter | reBot Arm B601-DM | reBot Arm B601-RS |
|---|
| Payload | 1.5 kg | 2.5 kg |
| Recommended Workspace | 70% of arm reach | 70% of arm reach |
| Max Reach | 767 mm | 754 mm |
| Weight | ≈ 4.5 kg | ≈ 6.7 kg |
| Repeatability | < ±0.2 mm | < ±0.1 mm |
| Degrees of Freedom | 6 DOF + 1 Gripper | 6 DOF + 1 Gripper |
| Supported Ecosystems | ROS1, ROS2, LeRobot, Pinocchio, Isaac Sim, Python SDK | ROS1, ROS2, LeRobot, Pinocchio, Isaac Sim, Python SDK |
| Supply Voltage | DC 24V | DC 48V |
🌟 Community Showcase
🧹 Optional Hardware
Wrist Camera Mount
These wrist camera mounts are shared by B601-RS and B601-DM. See the complete camera mount and data collection catalog for all models, previews, and downloads.
The previews show UVC32, D435i, D405 and Gemini 2 assemblies on B601-RS; the mounts are shared with B601-DM. URDFs and assembly instructions. UVC32 uses the official bracket CAD with a schematic camera board.
Leader Arm Compatibility
DIY Soft Finger
Recommended Optional Hardware
| Category | Type | Preview | Product | Link |
|---|
| Camera | Depth Camera | | Orbbec Gemini 2 3D Camera | Seeed Studio |
| Camera | Depth Camera | | Orbbec Gemini 336 Depth Camera | Seeed Studio |
| Camera | Depth Camera | | Orbbec Gemini 335LG 3D Camera | Seeed Studio |
| Camera | Depth Camera | | SLAMTEC Aurora S | Seeed Studio |
| Camera | Depth Camera | | Intel RealSense Depth Camera D435i | Seeed Studio |
| Camera | Depth Camera | | RealSense Depth Camera D405 | Seeed Studio |
🎓 Full-Stack Robotics Ecosystem
reBot-DevArm is not just a robotic arm — it is a robotics learning community. The following general tutorials are shared for free:
🖥️ Edge Computing & Master Control
- — AI inference & compute core
- — general Linux dev environment
- — low-power wireless control node
📡 Sensors & Peripherals
👉 Enter the Wiki Knowledge Base — all tutorials are free to view.
🙌 Acknowledgments and Contributors
The path of open source is never lonely. The reBot-DevArm project would not exist without the support of Seeed Studio, the global open-source community, and our hardware partners.
🌍 Ecosystem & Software Support
⚙️ Core Hardware Partners
💡 Inspiration
🎃 Prototype Contributors
- SeeedStudio AI Robotics Team — Yaohui Zhu ([email protected])
- SeeedStudio STU — Wentao Dong
- SeeedStudio STU — Weiwei Xu
- SeeedStudio Purchasing Department — Fengqun Peng
👥 Contributors
Coming soon — welcome to submit PRs and become a contributor!
⭐ Star History
📄 License
- Hardware Design © 2026 Seeed Studio Co., Ltd. — open sourced under CERN-OHL-W-2.0
- Firmware Code © 2026 Seeed Studio Co., Ltd. — open sourced under Apache-2.0
Rights and Restrictions
The reBot Arm project has always followed the core philosophy of agility, openness, responsibility, and symbiosis to serve the developer community. Our vision is to let every enthusiast master the hardware architecture and software principles of robotic arms, and experience cutting-edge embodied-intelligence algorithms through reBot.
For the first five months after launch, the project used the CC BY-SA NC (Non-Commercial) license, so developers could focus on iterating and improving the product during its early phase. After months of polishing, effective May 11, 2026, the project transitioned to the CERN-OHL-W 2.0 open-source license, achieving 100% full-stack open source (hardware and software) with full commercial-compliance and usage rights for all scenarios.
Hardware and software use different licenses — please confirm the terms applicable to the part you use.
| Item | Hardware (CERN-OHL-W-2.0) | Software SDK (Apache-2.0) |
|---|
| ✅ Commercial Use | ✅ Allowed | ✅ Allowed |
| ✅ Modification | ✅ Allowed | ✅ Allowed |
| ✅ Redistribution | ✅ Allowed | ✅ Allowed |
| ✅ Closed-source Integration | ❌ Conditional (see CERN-OHL-W-2.0) | ✅ Allowed (no disclosure required) |
| ⚠️ Copyright Retention | ✅ Required | ✅ Required |
| ⚠️ License Text Retention | ✅ Required | ✅ Required |
| ⚠️ Modification Notice | ✅ Required (date + description) | ✅ Required (description) |
| ⚠️ Patent Grant | ✅ Explicit | ✅ Explicit |
| ⚠️ Source Provision on Distribution | ✅ Must provide "Complete Source" | ❌ Not required |
| ⚠️ External/Closed Module Compatibility | ✅ Allowed (Weakly Reciprocal) | ✅ Fully allowed |
| 🔗 Relation to Other Components | Independent interface modules (External Material) may stay closed | No restrictions |
| 📄 Official Full Text | CERN-OHL-W-2.0 | Apache-2.0 |
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