How much does it cost to build the Koch v1.1 Dynamixel arm for imitation learning?

About $199, per the koch-v1-1 README BOM, follower.

Build the Koch v1.1 Dynamixel arm for imitation learning: media published by jess-moss/koch-v1-1 — Demo video on YouTube (opens in a new tab)Credit: jess-moss/koch-v1-1

Build the Koch v1.1 Dynamixel arm for imitation learning: media published by jess-moss/koch-v1-1 (image 2)

Build the Koch v1.1 Dynamixel arm for imitation learning

Arm, Medium, $199

An easier-to-assemble remix of Alexander Koch's low-cost arm, supported in LeRobot, with leader and follower arms and no soldering.

Cost $199: koch-v1-1 README BOM, follower.

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Koch v1.1 fixes screw interferences, standardizes holes, adds a platform for the leader arm so the follower can reach the floor, and swaps in a DC converter so you don't need a soldering iron. It runs on Dynamixel XL430/XL330 servos and is a LeRobot-supported robot.

Hardware & cost: The README BOM totals about $199 for the follower and $278 for the leader (US), plus printed parts.

Difficulty: Medium.

Agent install prompt (paste into Claude Code, Cursor or Codex): "Read https://github.com/jess-moss/koch-v1-1, give me a shopping list for one leader and one follower, then set up LeRobot and calibrate the Koch arms."

Source: jess-moss/koch-v1-1 on GitHub — https://github.com/jess-moss/koch-v1-1 (facts checked against the project README, Oct 2026; prices vary by region).

Quick answers

How much does it cost to build the Koch v1.1 Dynamixel arm for imitation learning?: About $199, per the koch-v1-1 README BOM, follower.
What do you need to build the Koch v1.1 Dynamixel arm for imitation learning?: The README BOM totals about $199 for the follower and $278 for the leader (US), plus printed parts.
How hard is it to build the Koch v1.1 Dynamixel arm for imitation learning?: Medium.

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