Open-source mobile manipulators have reached 660(XLeRobot)buteverysub−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.
@article{arxiv.2605.16537,
title = {Nori Bot: A Sub-$1,000 Floor-to-Counter Mobile Manipulator},
author = {Antonio Li and Sungjoon Park and Wen Ni Chew},
journal= {arXiv preprint arXiv:2605.16537},
year = {2026}
}
Comments
7 pages, 3 figures, 2 tables. Columbia University Deep Learning Robot Manipulation course project, Spring 2026