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References: Building and Calibrating the SO-ARM100

  1. Robot calibration - Wikipedia - Introduces robot calibration as the process of making a robot's commanded and actual positions agree. It frames the chapter's offsets, range-of-motion limits and calibration drift.

  2. Teleoperation - Wikipedia - Explains controlling a machine remotely through an operator interface. It gives the background for the leader and follower arm pair, whose matched calibration lets one arm mirror the other.

  3. Daisy chain (electrical engineering) - Wikipedia - Describes devices linked one to the next along a shared connection. It helps explain why servos share one bus and why each needs a unique ID, and why they are set up one at a time.

  4. Modern Robotics: Mechanics, Planning, and Control (1st Edition) - Kevin M. Lynch and Frank C. Park - Cambridge University Press - Defines forward kinematics from a home configuration, where every joint sits at zero. Its clear separation of that zero pose from other poses helps with the chapter's two different zeros.

  5. Pro Git (2nd Edition) - Scott Chacon and Ben Straub - Apress - Explains Git by its model of snapshots of a project over time, rather than lists of changes. That view helps you record which repository version and calibration files a working arm was built from.

  6. SO-101 assembly guide - Hugging Face LeRobot Documentation - The official step-by-step guide: finding ports, setting motor IDs and baud rates, assembling each joint with the stated screws, and calibrating. This chapter's build sequence follows it.

  7. SO-ARM100 and SO-ARM101 repository - The Robot Studio on GitHub - The open-source hardware source for printable files, calibration gauges, bills of materials, printing guidance and a motor debugging section. It is the starting point for the build.

  8. Getting started with SO-ARM100 and SO-ARM101 with LeRobot - Seeed Studio Wiki - A photo-based assembly walkthrough for both arms, with power-supply rules, calibration advice and a mid-position reset procedure. It adds practical detail and warnings that complement the official guide.

  9. Bus Servo Adapter (A) - Waveshare Wiki - Documents the servo bus controller board, including the A and B jumper positions for UART or USB, and its separate power input. It supports the chapter's power-on checklist, where the jumpers must be set to B.

  10. Imitation Learning on Real-World Robots - Hugging Face LeRobot Documentation - Shows the next step after calibration: teleoperating the follower from the leader, with the robot id used to store the calibration file. It shows why calibration matters for later chapters.