For RAID0: nope.
RAID 0 (stripe) is just alternating sectors between drives. Or even more simple, concatenating a few drives without any performance gain. Neither do you need hardware for RAID-1. But parity calculations for RAID 3/4/5/6 do take some CPU cycles. Not enough to be a bopther on a modern CPU, but in the past it would have been an additional load on a server. One which might already be busy.
Also, for RAID5/6 can have a write gap. You can compensate for that with a proper battery backed cache. Which you will find on all non-entry-level RAID controllers.