ALOHA2ロボットキッチン応用シナリオ再現レポート
ALOHA2 Robot Kitchen Application Scenario Reproduction Report
ALOHA2は、両腕遠隔操作ロボットALOHAの改良版で、キッチンでの応用シナリオを再現するために設計された。
著者: Haoyang Wu, Siheng Wu, William X. Liu, Fangui Zeng
分類: cs.RO
原文アブストラクト
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.