Open Source RoboticsRobots, software & learning

TidyBot++

Robot / hardware build

A powered-caster mobile base with published fabrication files, arm mounts and phone teleoperation; complete manipulation uses a separately supplied arm. [1] [3]

Build & first use →Official websiteSource codeUpstream build guideBill of materials

For
Research labs with mechanical fabrication, motor-control and robot-integration experience [4] [5]
Cost
No current cost yet. Upstream bill of materials [4]
Source rights
Some licenses are unresolved. Review licenses

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
MIT, CC-BY-4.0 · license not fully assessed for mechanical design · Details by part

Requirements · Research details and dates

On this page

Overview

TidyBot++ is a buildable powered-caster base for mobile manipulation. Four independently steered and driven caster modules let it translate and rotate in the plane. The useful design boundary is the base and integration hardware: the mounted commercial arm is a separate purchase, with separate rights and control requirements. [1] [3] [4]

Is this for you?

Use cases
  • Mobile manipulation
  • Phone teleoperation
  • Demonstration collection

[1]

Known limitations
  • Mounted arms, motors and commercial control dependencies retain separate terms.
  • Guide prices are historical and rely on configuration and academic purchasing assumptions.
  • Arm mounting does not imply working teleoperation or policy support for every arm.

Editorial assessment from the cited sources.

[1] [3] [4] · Editorial assessment

What you need

Operating system
  • Ubuntu for robot control
  • Windows for initial Phoenix Tuner X device configuration

[4] [5]

Host computer

Onboard mini PC for low-level control; separate GPU computer for policy workloads.

[1]

Dependencies
  • Four MK4 caster modules matched to Kraken X60
  • Eight Kraken X60 motors and four CANcoder encoders
  • CANivore adapter and documented Phoenix Pro configuration
  • Separate arm and onboard computer

[3] [4]

Tools
  • 3D printing
  • Laser cutting
  • Machined shafts
  • Assembly tools from the separate tool BOM

[4]

Skills
  • Mechanical assembly and fabrication
  • CAN configuration
  • Python robot control

Editorial assessment from the cited sources.

[4] [5] · Editorial assessment

Hardware & parts

Upstream bill of materials [4]

Hardware configuration

Holonomic wheeled base with an independently supplied arm.

[3]

Actuators
  • Eight motors across four powered-caster modules; arm actuators are separate.

[4]

Sensors
  • Four steering encoders; camera configuration depends on manipulation setup.

[4]

Power

Separate SLA supply for base drives and portable power station for the arm/computer.

[7]

Dimensions

Kinova reference base: 50 × 54 × 37.5 cm; 34 kg, excluding arm.

[3]

Assembly & first use

Open the upstream getting-started guide [4] · Project documentation [3]

  • Select the Kinova, Franka or ARX5 reference base and its matching BOM.
  • Prepare the machined shafts, printed components and laser-cut plates.
  • Assemble caster modules, power wiring, CAN network and frame following the guide.
  • Configure controller IDs and encoder offsets, then try simulation before physical teleoperation.

Editorial assessment from the cited sources.

[4] [5] [7] · Editorial assessment

Assembly

Caster, power, CAN and frame assembly precede arm mounting and controller configuration.

[3] [4]

Calibration

Align all four casters at zero steer, read encoder offsets and store robot-specific constants.

[5]

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. Design files are available. File-level reuse and a configuration-matched assembly preview remain under review.

Model sources

Design files are available. File-level reuse and a configuration-matched assembly preview remain under review.

Project notes

Choose a configuration before using the BOM

The guide provides Kinova, Franka and ARX5 reference bases. For orientation, the Kinova base measures 50 × 54 × 37.5 cm and weighs 34 kg without the arm. The guide lists Kinova for teleoperation and policy learning, ARX5 teleoperation through a separate branch, and Franka for hardware design only. Mounting instructions also exist for other arms, but mounting support is broader than the released teleoperation and learning support. Do not treat every mechanical mount as a working policy-inference configuration. [3]

This review pins the software at c8dd23819f9cced476124a4b88538e6863ef53f7, hardware resources at c268c53c4bc32d3e28d3ad34f35021f1dda316a6, and guide at 077aef8475447dd248f512a9bbb193a61f2ad175. The resource archive contains STEP assemblies, printing/cutting files and separate BOM spreadsheets. These are commit snapshots, not a numbered hardware release. [1] [3] [6]

The documented drive uses four MK4 modules, eight Kraken X60 motors and four CANcoder encoders. The guide warns that selecting the Falcon rather than Kraken variants can produce mismatched parts. Fabrication includes printed components, cut plates and custom machined shafts. Its pricing depends partly on academic motor pricing and batch machining; it also calls for a Phoenix Pro license. The guide lists historical US-dollar base estimates of $5,379.63 for Kinova, $6,272.77 for Franka and $5,205.71 for ARX5. These are upstream base BOM estimates, not current delivered quotes or prices for the complete arm-and-computer system; shipping, tax, tools and labor have not been verified. A current delivered budget for the complete arm, base, computers and tools has not been established here. [4]

Calibration is part of the build

Initial device configuration uses Windows and Phoenix Tuner X, while the low-level control setup uses Ubuntu. Each assembled base needs its own steering-encoder offsets: align the four casters, measure the offsets, and enter them in the configuration. The Kinova instructions also call for torque-offset zeroing if torque control has not previously been used. The onboard real-time controller and heavier policy workloads run separately; the README connects timing jitter with degraded control behavior. [1] [4] [5]

Begin with the documented simulation workflow before physical teleoperation. Upstream uses the phone as an enabling device and documents torque limits, but these are reported implementation features, not safety validation by us. The base drives and arm/computer use separate power supplies, so the operating procedure matters as much as launching the software. [7]

Source and reuse boundaries

The control repository has an MIT license and the guide declares CC BY 4.0. The separate hardware-resource repository has no license file in the preserved inventory; neither declaration automatically settles the CAD pack's reuse terms. We have preserved the available design files, but have not fabricated parts, checked fit, calibrated motors or operated the robot. [2] [6] [8]

What we checked

Source research only; no fabrication, hardware operation, runtime or performance testing. No affiliate links.

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Oct 17, 2026
Sources last checked
Oct 17, 2026
Next review
Nov 17, 2026
Reviewed revision
Code c8dd23819f9cced476124a4b88538e6863ef53f7; hardware resources c268c53c4bc32d3e28d3ad34f35021f1dda316a6; guide 077aef8475447dd248f512a9bbb193a61f2ad175 (commit snapshots)

Source files and licenses

Distinct hardware design with accessible design artifacts; purchased components, missing artifacts and rights are qualified independently.

LayerAvailability / license
mechanical designavailable · License not fully assessed
STEP/STL and fabrication files available; separate resource repository has no license file in the preserved inventory. [6]
electronicsnot found · License not fully assessed
Commercial motor controllers, encoders and computer; complete electronics-design sources not established. [4]
firmwarenot found · License not fully assessed
Commercial controller firmware and license requirements remain separate. [4]
softwareavailable · MIT
[2]
documentationavailable · CC-BY-4.0
[8]

Not required to reproduce the hardware design; optional robot-learning assets are outside this hardware review.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history