低成本力反馈遥操作平台，助力机器人模仿学习数据采集
Prometheus: Universal, Open-Source Mocap-Based Teleoperation System with Force Feedback for Dataset Collection in Robot Learning
- 用消费级设备搭建带力反馈的遥操作系
- 实测提升任务成功率，支持大规模数据收集
- 适合机器人学习、仿生控制等研究者使用
本文提出一种新型带力反馈的遥操作系统，采用消费级HTC Vive Trackers 2.0。系统集成自研控制器、UR3机械臂及定制手指的Robotiq夹爪，确保嵌入式力传感器受力均匀。实时压缩力数据传输至控制器，使操作者可感知抓取物体的力度。实验表明该系统显著提升任务成功率，为机器人模仿学习提供低成本、可扩展的数据采集方案。
原文摘要 · Abstract (English)
This paper presents a novel teleoperation system with force feedback, utilizing consumer-grade HTC Vive Trackers 2.0. The system integrates a custom-built controller, a UR3 robotic arm, and a Robotiq gripper equipped with custom-designed fingers to ensure uniform pressure distribution on an embedded force sensor. Real-time compression force data is transmitted to the controller, enabling operators to perceive the gripping force applied to objects. Experimental results demonstrate that the system enhances task success rates and provides a low-cost solution for large-scale imitation learning data collection without compromising affordability.
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