千元内实现双臂机器人自主操作，硬件开源可复现。
Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation
- 用轻量化高刚性结构+三总线供电设计，提升稳定性
- 搭载Jetson Orin Nano实现无外部依赖的自主导航与抓取
- 适合机器人教学与低成本科研，代码和图纸全开源
我们基于开源XLeRobot平台，构建了一款成本低于1300美元的双臂移动操作机器人，集成机载计算单元。主要贡献包括：（1）优化机械结构以最大化刚度重量比；（2）采用三总线电源拓扑隔离计算单元与电机引起的电压波动；（3）利用NVIDIA Jetson Orin Nano实现无缆化自主运行。该平台支持远程操控、自主SLAM导航与视觉引导抓取，无需外部依赖，为机器人研究与教育提供低成本替代方案。
原文摘要 · Abstract (English)
We present a bimanual mobile manipulator built on the open-source XLeRobot with integrated onboard compute for less than \$1300. Key contributions include: (1) optimized mechanical design maximizing stiffness-to-weight ratio, (2) a Tri-Bus power topology isolating compute from motor-induced voltage transients, and (3) embedded autonomy using NVIDIA Jetson Orin Nano for untethered operation. The platform enables teleoperation, autonomous SLAM navigation, and vision-based manipulation without external dependencies, providing a low-cost alternative for research and education in robotics and robot learning.
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