Teleoperation System* Overview
*name omitted for submission
TS is an innovative teleoperation system designed to streamline the collection of high-quality datasets for training robots, particularly for manual and bimanual tasks. Built on a joint-matching strategy, it enables users to intuitively control a robot by mirroring its joint movements.
Key Features
- Force Feedback: TS incorporates a force feedback mechanism that provides users with tactile sensations corresponding to the forces experienced by the robot, enhancing precision and intuitiveness during operation.
- Adjustable Sensitivity Modes: The system offers customizable sensitivity levels, allowing users to tailor control precision to suit tasks of varying complexity.
- User-Friendly Data Recording Interface: An integrated interface simplifies the process of recording datasets, making data collection for imitation learning fast and efficient.
Design and Accessibility
TS is engineered for reliability, cost-effectiveness, and ease of reproduction. This makes it an accessible tool not only for well-funded research laboratories but also for startups and individual researchers passionate about advancing robotics through imitation learning.
Adaptability
TS is available in three distinct configurations: UR (6 DoF), Franca (7 DoF), and Cross. Its modular architecture enables seamless adaptation across a wide range of robotic platforms, ensuring compatibility with diverse models and broadening the scope of potential applications.
Proven Effectiveness
A series of experiments has demonstrated TS’s ability to effectively perform complex bimanual tasks. These results highlight its potential to accelerate research in robotics by providing a reliable tool for data collection and the development of new algorithms.
TS offers a powerful solution for those working to advance robotic systems, combining intuitive control, affordability, and adaptability. It stands as a valuable asset in the evolution of robot learning technologies.
Example Demonstrations
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Build Your Own TS
The tutorial is omitted for submission, but you can explore it after the paper is published! We offer a complete materials list and a clear video guide to assemble TS from the ground up.
BibTeX
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Contact
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