XLEROBOT: A HOUSEHOLD ROBOT ON AN IKEA CART
A dual-arm mobile robot built on a RASKOG cart — drive it with a keyboard, an Xbox pad, or a Quest 3 VR headset, then teach it to do chores.
by Gaotian Wang (Vector-Wangel)
RoboticsAI
- difficulty
- ●●●●○
- time
- several weekends
- license
- Apache-2.0
- repo
- repo ACTIVE5,346 stars
●●●●○ · several weekends · Apache-2.0 · 5,346 stars · repo ACTIVE
WHAT YOU’LL NEED
- 3D printer + filament — printable parts — files are in the repo
- Electronic parts — full list with part numbers in the repo BOM
- Dev board / microcontroller — runs the project firmware
- Soldering kit + basic tools — one-time buy, serves every future build
Partner
COMPAREE VERDICT
This is the most fun 'future home robot' on our list, and it's real. XLeRobot mounts two low-cost arms and a sensor head on an IKEA RASKOG cart, so a big chunk of the chassis is a trolley you can buy today. It reuses the SO-ARM ecosystem's cheap servos, and — the part we love — you can drive it with a keyboard, an Xbox controller, a Switch joycon, or full Quest 3 VR teleoperation, then use those demos to train it. It plugs into HuggingFace LeRobot for the learning side. It's not a weekend toy (17 servos, several sub-assemblies) and the pretrained brains are still 'soon,' but there's an official WowRobo assembly video and even a browser simulation to play with first.
IN THE REPO
NOT IN THE REPO
- —STL + STEP in the repo (hardware/step/...), full BOM in the docs
- —Control software for keyboard/Xbox/VR is included (XLeVR)
- —Pretrained VLA models are 'coming' — not shipped yet
- —There's a browser sim so you can try it before building
Can I build this?
Build at your own risk. Projects involve tools, electronics and sometimes mains voltage — follow the creator’s safety notes.
Partner · KickstarterHeyGears G1: 10M+ colors and transparent parts in one print, plus UV printing on flat objects. Figures, parts and labels — no painting.
Videos
XLeRobot 0.3.0 Assembly Guide (WowRobo)39:53
Official ~40-minute assembly walkthrough from the kit partner, linked in the README.
Gallery
Start here
Navigation into the creator’s own docs — we don’t rewrite the guide, we route you to the source.
- 1.Try the browser sim (no build required)
- 2.Read the docs (BOM + assembly)
- 3.Order the material list (servos, cart, power)
- 4.Follow the assembly video (~40 min, WowRobo)
- 5.Join the Discord (community + VR help)
Resources
Documentation, files and community threads for this build — we link straight to the original sources and never rehost the creator’s files.
Partner · KickstarterCORE POWER BANK S: 0.2" thin, 2.8 oz, 5000 mAh with 22.5W fast charging. Semi-solid battery, carbon fiber, IPX7 waterproof.
KNOWN ISSUES
- The README hero image uses expiring GitHub attachment links — for your own reference, save the stable 'raw' URLs
- Pretrained VLA models aren't shipped yet — you teach it via teleoperation for now
- 17 servos is the main cost and the main assembly effort — pace yourself across sub-assemblies
Is a big part of it really an IKEA cart?
Yes — the base is built around an IKEA RASKOG trolley, which keeps the chassis cheap and repeatable. The arms, head and electronics are what you add.
Can I control it with VR?
Yes — it supports keyboard, Xbox controller, Switch joycon, and full Quest 3 VR teleoperation via the included XLeVR/TeleGrip software.
Can I try before building?
Yes — there's a browser simulation (MuJoCo + Gaussian splatting) you can drive right now.
What does it cost?
Band $$ for the base build, more with camera and compute upgrades. The material list has current prices.
Community builds
No community builds yet — be the first, we feature the best ones.
Discussion1
FROM THE COMPAREE TEAM
The chassis is literally an IKEA RASKOG cart — cheap, identical everywhere on Earth. Is commodity furniture the smartest robot base you've seen, or a ceiling the project will regret?
SO-ARM100: The Low-Cost Robot Arm Behind HuggingFace LeRobot
●●●○○ · the arm ecosystem XLeRobot builds on
ALOHA: The Stanford Robot That Learns From You
●●●●○ · a bimanual teleoperation platform with a research pedigree
Open Duck Mini: A DIY BDX-Style Droid That Learns to Walk
●●●●○ · if you want a legged AI robot instead of a wheeled one
Gaotian Wang (Vector-Wangel)
Built an affordable dual-arm home robot on an IKEA cart, documented bilingually, with VR teleop and a browser sim. Ships a dev kit with WowRobo.
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DISCLAIMER
- Comparee is not the author of the projects featured here. All rights to each project belong to its creator — every page links to the original source, and we never host creators’ files.
- Information is provided without warranty and may become outdated as projects evolve. Prices are indicative bands only — always check the creator’s parts list for current costs.
- Building and operating any project is at your own responsibility. Protective equipment, safe workshop practice and compliance with local regulations are the builder’s responsibility.
CompareeTEAM1mo ago
The feature we'd try first: a browser-based simulation built on MuJoCo and Gaussian splatting lets you drive the robot before printing a single part. Worth tempering expectations on autonomy, though — the pretrained VLA models are announced but not shipped, so today you teach it chores by teleoperation via keyboard, Xbox pad or a Quest 3. What household task would you trust a dual-arm cart with first?