用手机+脚踏板实现低成本智能机械臂远程操控
Low-Cost Teleoperation Extension for Mobile Manipulators
- 用手机头显+主臂+脚踏板组合，替代昂贵虚拟现实设备
- 用户实验显示操作效率更高，认知负担更低
- 开源模块化设计，适配多种移动机械臂系统
移动双臂机械臂的遥操作需同时控制高维系统，通常依赖昂贵专用设备。我们提出一个开源遥操作框架，使用常见消费级硬件即可实现直观的全身控制。系统结合智能手机头位追踪（含IMU）实现相机视角控制，通过主臂实现双边操作，以脚踏板完成免手式基座导航。利用标准智能手机提供沉浸式视觉反馈，无需昂贵VR头盔。模块化架构可无缝集成至XLeRobot框架，亦易于适配其他移动机械臂。用户研究表明，相较键盘控制，本方案显著提升任务表现并降低认知负荷。
原文摘要 · Abstract (English)
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole body control using readily available commodity hardware. Our system combines smartphone-based head tracking for camera control, leader arms for bilateral manipulation, and foot pedals for hands-free base navigation. Using a standard smartphone with IMU and display, we eliminate the need for costly VR helmets while maintaining immersive visual feedback. The modular architecture integrates seamlessly with the XLeRobot framework, but can be easily adapted to other types of mobile manipulators. We validate our approach through user studies that demonstrate improved task performance and reduced cognitive load compared to keyboard-based control.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。