U-ARM : Ultra low-cost general teleoperation interface for robot
  manipulation
We propose U-Arm, a low-cost and rapidly adaptable leader-follower
teleoperation framework designed to interface with most of commercially
available robotic arms. Our system supports teleoperation through three
structurally distinct 3D-printed leader arms that share consistent control
logic, enabling seamless compatibility with diverse commercial robot
configurations. Compared with previous open-source leader-follower interfaces,
we further optimized both the mechanical design and servo selection, achieving
a bill of materials (BOM) cost of only \50.5 for the 6-DoF leader arm and
56.8 for the 7-DoF version. To enhance usability, we mitigate the common
challenge in controlling redundant degrees of freedom by %engineering methods
mechanical and control optimizations. Experimental results demonstrate that
U-Arm achieves 39\% higher data collection efficiency and comparable task
success rates across multiple manipulation scenarios compared with Joycon,
another low-cost teleoperation interface. We have open-sourced all CAD models
of three configs and also provided simulation support for validating
teleoperation workflows. We also open-sourced real-world manipulation data
collected with U-Arm. The project website is
https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm.
68be910dc123124955ef616b
Yanwen Zou
68be910dc123124955ef616c
Zhaoye Zhou
68be910dc123124955ef616d
Chenyang Shi
68be910dc123124955ef616e
Zewei Ye
68be910dc123124955ef616f
Junda Huang
68be910dc123124955ef6170
Yan Ding
68be910dc123124955ef6171
Bo Zhao
U-ARM : Ultra low-cost general teleoperation interface for robot
  manipulation
We propose U-Arm, a low-cost and rapidly adaptable leader-follower
teleoperation framework designed to interface with most of commercially
available robotic arms. Our system supports teleoperation through three
structurally distinct 3D-printed leader arms that share consistent control
logic, enabling seamless compatibility with diverse commercial robot
configurations. Compared with previous open-source leader-follower interfaces,
we further optimized both the mechanical design and servo selection, achieving
a bill of materials (BOM) cost of only \50.5 for the 6-DoF leader arm and
56.8 for the 7-DoF version. To enhance usability, we mitigate the common
challenge in controlling redundant degrees of freedom by %engineering methods
mechanical and control optimizations. Experimental results demonstrate that
U-Arm achieves 39\% higher data collection efficiency and comparable task
success rates across multiple manipulation scenarios compared with Joycon,
another low-cost teleoperation interface. We have open-sourced all CAD models
of three configs and also provided simulation support for validating
teleoperation workflows. We also open-sourced real-world manipulation data
collected with U-Arm. The project website is
https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm.
U-Arm is a low-cost, adaptable teleoperation framework for robotic arms that optimizes mechanical design and control logic to enhance data collection efficiency and task success rates.
leader-follower teleoperation 3D-printed leader arms 6-DoF 7-DoF servo selection mechanical design control logic data collection efficiency task success rates CAD models simulation support