用微型双臂末端装置实现紧凑型双手灵巧操作
MiniBEE: A New Form Factor for Compact Bimanual Dexterity
- 两副3自由度机械臂耦合成一体，保持夹持器相对位置
- 可穿戴采集数据，也能部署到标准机械臂上扩展操作范围
- 适合人机协作与模仿学习，提升灵巧操作效率
双臂机器人虽具出色灵巧性，但通常依赖两副完整的6或7自由度机械臂，系统复杂且仅利用部分工作空间进行灵巧操作。本文提出MiniBEE（微型双臂末端执行器），一种紧凑结构：两个3+自由度的低自由度臂耦合成运动链，保持夹持器间完整相对定位。为指导设计，我们构建了运动学灵巧性度量，以在轻量化和可穿戴的前提下扩大灵巧工作空间。该系统支持两种模式：(i) 可穿戴式本体跟踪夹持器姿态的数据采集；(ii) 部署于标准机械臂，扩展其全工作空间的灵巧操作能力。我们提出运动学分析与设计优化方法以最大化灵巧范围，并演示了一个端到端流程：穿戴式示范训练模仿学习策略，实现鲁棒的现实世界双臂操作。
原文摘要 · Abstract (English)
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity while only exploiting a fraction of the overall workspace for dexterous interaction. We introduce the MiniBEE (Miniature Bimanual End-effector), a compact system in which two reduced-mobility arms (3+ DOF each) are coupled into a kinematic chain that preserves full relative positioning between grippers. To guide our design, we formulate a kinematic dexterity metric that enlarges the dexterous workspace while keeping the mechanism lightweight and wearable. The resulting system supports two complementary modes: (i) wearable kinesthetic data collection with self-tracked gripper poses, and (ii) deployment on a standard robot arm, extending dexterity across its entire workspace. We present kinematic analysis and design optimization methods for maximizing dexterous range, and demonstrate an end-to-end pipeline in which wearable demonstrations train imitation learning policies that perform robust, real-world bimanual manipulation.
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