Star Arm 102: Open Source Robot Arm Platform for AI & Teleoperation
Open-source 6+1 DoF robotics for teleoperation, AI training, and real-world task execution—compatible with reBot B601-DM and Hugging Face LeRobot.
Star Arm 102 is listed in the Hugging Face LeRobot documentation as a supported teleoperator for reBot B601.
Compare Star Arm 102 Models at a Glance
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| Specification | Star Arm 102-LD | Star Arm 102-HD | Star Arm 102-FL |
|---|---|---|---|
| Core Position | Lightweight teaching / rapid data collection | Professional hover teaching / high-precision collection | Task execution / physical operation |
| Reach | Standard | 420mm (large reach) | Standard |
| DoF | 6+1 | 6+1 | 6+1 |
| Weight | 721g | 883g | 791g |
| Payload | No operational load | No operational load | 500g |
| Repeatability | - | - | 5 – 8 mm |
| Hover Function | ❌ No, drops when released | ✅ Hover | ✅ Position hold |
| Servo Configuration | RA8 series lightweight low-damping | RP8-U45H-M all high-torque | RA8-U35H-M + RX8-U50H-M |
| Power Supply | 12V 2A | 12V 10A | 12V 10A |
| Python SDK | ✅ Supported | ✅ Supported | ✅ Supported |
| ROS2 Humble | ✅ Supported | ✅ Supported | ✅ Supported |
| MoveIt2 | ❌ Not supported | ❌ Not supported | ✅ Supported |
| Gazebo Simulation | ❌ Not supported | ❌ Not supported | ✅ Supported |
| LeRobot | ✅ Teleoperator | ✅ Teleoperator | ✅ Execution robot |
| Independent Operation | Collection only, handheld drag | Collection only, hover hold | Requires program or master control |
| Best For | Education demos, entry-level data collection | Research-grade precision collection, professional teleoperation | Algorithm development, automation experiments, physical execution |
Built for Teaching, Teleoperation and Open Robotics
Nine capabilities across hardware, dexterity and ecosystem — covering the full Star Arm 102 workflow.
Flexible Leader–Follower Pairing
The Star Arm ecosystem supports flexible leader–follower pairings across compatible models, including the Star Arm 102-FL follower arm.
Hold Any Pose
Let go of the Star Arm 102-HD and it stays where you place it—without sagging under its own weight.
Digital Twin Workspace
Open the web-based controller in any browser—no installation or coding required. Control the arm in real time, monitor joint angles, run one-click zero calibration and tune PID parameters with ease.
High-Torque Servos
High-torque servos deliver stable, controlled movement for precise teleoperation.
500 g Payload
The Star Arm 102-FL follower arm supports payloads up to 500 g.
Pose Holding
The Star Arm 102-HD keeps its pose steady after release.
Precise Feedback
Feedback keeps motion controlled and repeatable during teleoperation.
6+1 DOF
Camera Vision
Interchangeable Soft Gripper
What Makes the Star Arm 102 an Open Source Robot Arm?
The Star Arm 102 is an open source robot arm with published hardware resources (CAD drawings, editable STEP files, 3D-printable parts and a BOM), a public serial-bus protocol and configuration tools, an open software stack (Python SDK, ROS 2 Humble, MoveIt2 and Gazebo), and public documentation and repositories.
- Star Arm 102 hardware files for printing and assembly connect builders to drawings, selected editable STEP components, printable LD structural parts and the bill of materials needed to identify purchased components.
- Star Arm 102 tools for serial-bus configuration and diagnostics explain device connections, servo parameters and joint feedback for checking communication before motion tests.
- Star Arm 102 ROS 2 setup for planning and simulation complements the Python SDK with Humble packages, MoveIt2 motion planning and Gazebo simulation workflows for the FL follower.
- Star Arm 102 repository for source code and documentation brings together hardware resources, control examples and integration guides so developers can inspect the implementation and build on the provided workflows.
Hugging Face LeRobot documents Star Arm 102, also called reBot Arm 102, as the leader teleoperator for reBot B601-DM in its reBot B601 calibration and teleoperation guide.
Star Arm 102 Solutions for Education, Research and AI Robotics
A complete robotic arm platform for education, robot learning, teleoperation and prototyping.
Robotics Education
A complete robotic arm platform for classroom experiments, university laboratories and hands-on engineering education.
Embodied AI Research
Collect demonstrations, train imitation-learning models and deploy robot-learning workflows on real hardware.
Teleoperation
Validate leader-follower control, remote manipulation and human-robot interaction workflows with an open platform.
Build with the Star Arm 102 Development Ecosystem
Use the web control app, Python SDK, ROS2 Humble and LeRobot across the series, with MoveIt2 and Gazebo support for the FL follower arm.
Python SDK
ROS2 Humble
LeRobot
MoveIt2 (FL)
Gazebo (FL)
Start with the browser-based control app or Python SDK, connect through ROS2 Humble and LeRobot, and use MoveIt2 or Gazebo for FL motion planning and simulation.
Watch Star Arm 102 in Action
Recognition & Ecosystem
Star Arm 102 is documented, supported, and actively used across open-source robotics ecosystems and developer events.
Ecosystem
Featured in Hugging Face LeRobot Docs
StarArm 102 is officially documented in LeRobot. Developers can use a standardized workflow for device configuration, teleoperation, data collection, and deployment — no custom adapter required.
Event
Physical AI at Revolute 2026
Star Arm 102 served as the leader arm for teleoperation, demonstration data collection, and imitation-learning experiments at the MITERS hackathon in Cambridge, Massachusetts.
Resources
Open Development Resources
Python SDK, ROS 2 with MoveIt 2, Gazebo simulation, CAD files, and assembly guides — all maintained and versioned for the Star Arm 102 series.
Star Arm 102 Developer Resources
CAD, SDK, software and robot development guides for Star Arm 102.
Documentation
Specifications, setup, assembly and quick-start guidance.
Python SDK
Python control tools and code examples for robot development.
ROS2 & Simulation
ROS2 Humble, MoveIt2 and Gazebo setup and tutorials.
CAD & 3D Models
CAD drawings, STEP files and 3D-printable models.
Software Tools
Configuration, serial diagnostics and troubleshooting tools.
LeRobot AI
Teleoperation, dataset collection, training and deployment.
Star Arm 102 FAQ
Answers about model selection, teleoperation, software and robot development.
What is the Star Arm 102?
Star Arm 102 is an open-source 6+1 DoF robot arm platform for teleoperation, teaching, robotics development and embodied AI. The series includes LD and HD Leader arms for motion input and the FL Follower arm for task execution.
Which Star Arm 102 model should I choose?
Choose the lightweight LD Leader for teaching and rapid data collection, the HD Leader for stable hover positioning and precise demonstrations, or the FL Follower for robotic manipulation, automation and physical AI deployment.
Can Star Arm 102 be used for teleoperation and data collection?
Yes. Pair an LD or HD Leader with an FL Follower for real-time master-slave teleoperation, trajectory recording and imitation-learning dataset collection. A Leader arm can also record demonstrations independently.
Which SDKs and robot development tools are supported?
Star Arm 102 supports browser-based control, the Python SDK, ROS2 Humble and LeRobot. The FL Follower also supports MoveIt2 motion planning and Gazebo simulation for robot development and testing.
Is Star Arm 102 compatible with LeRobot?
Yes. LD and HD can operate as LeRobot teleoperators, while FL serves as the execution robot. The workflow covers teleoperation, dataset collection, model training and deployment to the physical arm.
Are CAD files, 3D models and assembly resources available?
Yes. Star Arm 102 provides CAD drawings, STEP files, 3D-printable models, BOM information, assembly guidance, software examples and troubleshooting documentation for ready-built or self-assembled projects.
Is the Star Arm 102 really open source?
The published resources include hardware design files, selected editable STEP parts, 3D-printable models, a BOM, Python SDK examples, ROS 2 Humble packages and public documentation. The serial-bus protocol is documented, and configuration tools support setup and diagnostics. MoveIt2 and Gazebo workflows are provided for the FL follower. See the Star Arm 102 source code and hardware resources for the available files and repositories.
Can I build or 3D print a Star Arm 102 myself?
Yes. The published LD resources provide a path to printing structural parts and assembling an arm using separately sourced servos, electronics, fasteners and cables. Start with the CAD drawings, printable models and BOM linked from the Star Arm 102 hardware resource directory, then follow the Star Arm 102 assembly preparation and checks. The illustrated assembly instructions are still being expanded, so check the current resource status before starting.