Hardware Components
Key system architecture and the complete Bill of Materials (BOM) from the research paper.
System Architecture
XLeRobot-Pro is designed to be fully untethered, balancing compute power with battery efficiency.
Tri-Bus Power Topology
Isolates high-transient motor loads from the Jetson Orin Nano, completely eliminating power brownouts during aggressive maneuvers.
Embedded Autonomy
NVIDIA Jetson Orin Nano Super provides full onboard GPU compute. No external PC tethering required for VLA models.
Robust Perception
Intel RealSense D435 RGB-D camera enabling high-fidelity SLAM navigation and vision-based bimanual manipulation.
Optimized Structure
Functionally graded 3D-printed links utilizing High-Shell topology to achieve maximum stiffness-to-weight ratio.
Bill of Materials (BOM)
Full hardware requirements for the standalone configuration.
| Subsystem | Component | Qty | Cost (USD) |
|---|---|---|---|
| Compute | NVIDIA Jetson Orin Nano Super [18] | 1 | $249.00 |
| Compute | microSD Card | 1 | $11.23 |
| Peripherals | Anker 4-in-1 USB-C Hub | 1 | $14.99 |
| Actuation | Feetech STS-3215 Servos (12V) [21] | 17 | $271.83 |
| Actuation | Servo Wire: 50’ 3-Color | 1 | $15.97 |
| Actuation | Wonrabai Serial Bus Servo Driver Board | 2 | $21.10 |
| Power | Anker SOLIX C300 Power Station [22] | 1 | $159.99 |
| Structure | PLA Filament (3kg) | 1 | $45.00 |
| Structure | M3 Screws and Nuts Set | 1 | $14.99 |
| Frame | IKEA RÅSKOG Utility Cart | 1 | $39.99 |
| Mobility | 4” Omni Wheels | 3 | $29.97 |
| Perception | Intel RealSense D435* | 1 | $333.75 |
| Power Cable | USB-C to DC5521 Cable | 1 | $8.99 |
| Power Cable | USB-C to DC5525 PD 140W Cable | 1 | $11.99 |
| Power Cable | DC5521 Car Cigarette Lighter Cable | 1 | $9.49 |
| Data Cable | USB-C to USB-C Cable (2 pcs) | 1 | $8.99 |
| TOTAL Untethered xLeRobot | $1202.28 | ||
* Note: The sum of the listed items is $1,247.27. The 3kg of PLA filament ($45.00) is included in this BOM for reference but is calculated as a general lab consumable rather than a direct platform cost, bringing the official total to $1,202.28.
Hardware/Software Interface
Ensure your driver boards are properly recognized by the compute node before proceeding to calibration.
[INFO] Scanning active USB interfaces...
[INFO] Found motor boards on /dev/ttyACM0 and /dev/ttyACM1