Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator
Nori Bot is a 17-DoF dual-arm mobile manipulator costing $947, addressing limitations of existing low-cost platforms: fixed-height workspace, reactive-only control, and servo burnout. It features a 600mm Z-axis lift, Raspberry Pi 4 with OpenClaw proactive agent runtime, and sensorless grip-force feedback via motor current for safety.
[2605.16537] Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator
[Submitted on 15 May 2026]
Title:Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator
View a PDF of the paper titled Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator, by Antonio Li and 2 other authors
View PDF HTML (experimental)
Abstract:Open-source mobile manipulators have reached $660 (XLeRobot) but every sub-$1,000 platform shares three limitations: a fixed-height workspace, reactive-only control, and no protection against the stall-induced burn-out that destroys cheap Feetech servos. We present Nori Bot, a 17-DoF dual-arm mobile manipulator at $947 (~3% the cost of comparable commercial platforms) that addresses all three: (1) a 600mm Z-axis lift on the existing servo bus for floor-to-counter reach; (2) a thin-client Raspberry Pi 4 paired with the OpenClaw proactive agent runtime so cron jobs and hooks trigger physical tasks autonomously; and (3) a software safety stack with sensorless grip-force feedback via motor current on a soft TPU finger. Code, CAD, and the skill manifest will be released.
Comments: 7 pages, 3 figures, 2 tables. Columbia University Deep Learning Robot Manipulation course project, Spring 2026
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.16537 [cs.RO]
(or arXiv:2605.16537v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.16537
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Antonio Li [view email] [v1] Fri, 15 May 2026 18:33:21 UTC (660 KB)
Full-text links:
Access Paper:
View a PDF of the paper titled Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator, by Antonio Li and 2 other authors
View PDF
HTML (experimental)
TeX Source
view license
Current browse context:
cs.RO
new | recent | 2026-05
Change to browse by:
cs
References & Citations
NASA ADS
Google Scholar
Semantic Scholar
Loading...
Data provided by:
Bibliographic Tools
Bibliographic and Citation Tools
Bibliographic Explorer Toggle
Bibliographic Explorer (What is the Explorer?)
Connected Papers Toggle
Connected Papers (What is Connected Papers?)
Litmaps Toggle
Litmaps (What is Litmaps?)
scite.ai Toggle
scite Smart Citations (What are Smart Citations?)
Code, Data, Media
Code, Data and Media Associated with this Article
alphaXiv Toggle
alphaXiv (What is alphaXiv?)
Links to Code Toggle
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub Toggle
DagsHub (What is DagsHub?)
GotitPub Toggle
Gotit.pub (What is GotitPub?)
Huggingface Toggle
Hugging Face (What is Huggingface?)
ScienceCast Toggle
ScienceCast (What is ScienceCast?)
Demos
Demos
Replicate Toggle
Replicate (What is Replicate?)
Spaces Toggle
Hugging Face Spaces (What is Spaces?)
Spaces Toggle
TXYZ.AI (What is TXYZ.AI?)
Related Papers
Recommenders and Search Tools
Link to Influence Flower
Influence Flower (What are Influence Flowers?)
Core recommender toggle
CORE Recommender (What is CORE?)
Author
Venue
Institution
Topic
About arXivLabs
arXivLabs: experimental projects with community collaborators
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)