U-ARM：面向机器人操作的超低成本通用远程操控接口

摘要

我们提出了U-Arm，一种低成本且快速适应的主从式遥操作框架，旨在与市面上大多数商用机械臂兼容。该系统通过三种结构各异的3D打印主控臂实现遥操作，这些主控臂共享一致的控制逻辑，从而确保与多种商用机器人配置的无缝对接。相较于以往的开源主从接口，我们进一步优化了机械设计及伺服电机选型，使得6自由度主控臂的材料成本仅为50.5美元，7自由度版本则为56.8美元。为提升易用性，我们通过机械与控制优化手段，有效缓解了控制冗余自由度这一常见难题。实验结果显示，在多种操作场景下，U-Arm相比另一低成本遥操作接口Joycon，数据采集效率提高了39%，任务成功率相当。我们已开源了三种配置的所有CAD模型，并提供了用于验证遥操作流程的仿真支持。同时，我们还公开了使用U-Arm收集的真实世界操作数据。项目网站为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：面向机器人操作的超低成本通用远程操控接口

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

摘要

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