U-ARM：超低成本通用遠程操作介面用於機器人操控

摘要

我們提出了U-Arm，這是一種低成本且快速適應的領導-跟隨遠程操作框架，旨在與市面上大多數商用機械臂兼容。我們的系統通過三種結構各異的3D打印領導臂實現遠程操作，這些領導臂共享一致的控制邏輯，從而確保與多樣化的商業機器人配置無縫兼容。相比於以往開源的領導-跟隨接口，我們進一步優化了機械設計和伺服電機選擇，使得6自由度領導臂的材料成本僅為50.5美元，7自由度版本則為56.8美元。為提升易用性，我們通過機械與控制優化，有效緩解了控制冗餘自由度這一常見難題。實驗結果表明，與另一低成本遠程操作接口Joycon相比，U-Arm在多種操作場景下實現了39%的數據收集效率提升，並保持了相當的任務成功率。我們已開源了三種配置的所有CAD模型，並提供了仿真支持以驗證遠程操作流程。此外，我們還開源了使用U-Arm收集的真實世界操作數據。項目網站為https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm。

English

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：超低成本通用遠程操作介面用於機器人操控

U-ARM : Ultra low-cost general teleoperation interface for robot manipulation

摘要

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