ALOHA2是双臂遥操作机器人升级版，用于厨房场景复现。
ALOHA2 Robot Kitchen Application Scenario Reproduction Report
- 双臂遥操作系统，通过主从机械臂实现精准控制
- 配备多视角摄像头，支持多源视觉数据采集
- 适配厨房环境，具可扩展的安装框架与重力补偿
ALOHA2 是 ALOHA 双臂遥操作机器人的增强版本，相较于原设计在性能和鲁棒性上均有提升，同时更加符合人体工学。与 ALOHA 一样，ALOHA2 包含两个夹爪、两套 ViperX 6-DoF 机械臂以及两套更小的 WidowX 机械臂。用户通过操控主机械臂，以反向驱动方式控制从动机械臂。系统还集成多个摄像头，可在遥操作过程中生成多视角的 RGB 数据。机器人安装于一块 48 英寸 × 30 英寸的铝制桌面上，该平台提供额外的相机和重力补偿装置安装点，便于拓展与部署。
原文摘要 · Abstract (English)
ALOHA2 is an enhanced version of the dual-arm teleoperated robot ALOHA, featuring higher performance and robustness compared to the original design, while also being more ergonomic. Like ALOHA, ALOHA2 consists of two grippers and two ViperX 6-DoF arms, as well as two smaller WidowX arms. Users control the follower mechanical arms by operating the leader mechanical arms through back-driving. The device also includes cameras that generate images from multiple viewpoints, allowing for RGB data collection during teleoperation. The robot is mounted on a 48-inch x 30-inch table, equipped with an aluminum frame that provides additional mounting points for cameras and gravity compensation systems.
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