KUKAloha让施工机械臂操作更安全高效，人机协同更自然。
KUKAloha: A General, Low-Cost, and Shared-Control based Teleoperation Framework for Construction Robot Arm
- 用轻量主臂引导粗动作，感知模块自动完成精细对齐抓取
- 实验显示操作负担降低，任务效率提升，可扩展用于工地演示数据收集
- 适合需要人机协作的低成本施工机器人场景
本文提出KUKAloha，一种通用、低成本且基于共享控制的施工机械臂遥操作框架。系统采用主从架构：轻量级主臂实现直观的人类粗动作引导，基于AprilTag检测的自主感知模块完成精确对齐与抓取。通过显式分离人类控制与精细操作，KUKAloha在大型机械臂操作中提升了安全性与重复性。我们在KUKA机械臂上实现了该框架，并针对典型施工操作任务进行了可用性评估。实验结果表明，KUKAloha有效降低了操作员工作负荷，提高了任务完成效率，为施工环境中可扩展的演示数据采集与共享人机控制提供了实用方案。
原文摘要 · Abstract (English)
This paper presents KUKAloha, a general, low-cost, and shared-control teleoperation framework designed for construction robot arms. The proposed system employs a leader-follower paradigm in which a lightweight leading arm enables intuitive human guidance for coarse robot motion, while an autonomous perception module based on AprilTag detection performs precise alignment and grasp execution. By explicitly decoupling human control from fine manipulation, KUKAloha improves safety and repeatability when operating large-scale manipulators. We implement the framework on a KUKA robot arm and conduct a usability study with representative construction manipulation tasks. Experimental results demonstrate that KUKAloha reduces operator workload, improves task completion efficiency, and provides a practical solution for scalable demonstration collection and shared human-robot control in construction environments.
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