发表机构
The University of Tokyo（东京大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
在开发机器人基础模型竞争激烈的背景下，针对ALOHA产生高力和速度能力有限的问题，开发了低成本开源的MEVION双臂机器人数据收集系统，介绍其结构、性能，证明其能为特定任务收集数据及支持相关运动生成。
AI 中文摘要
全球开发机器人基础模型的竞争日益激烈。在用于双臂机器人的数据收集系统中，ALOHA具有低成本和开源的代表性，被研究人员广泛采用为事实上的标准。然而，由于其产生高力和速度的能力有限，难以处理重物或进行快速操作。为了解决这一问题，我们开发了MEVION，一个低成本且开源的双臂机器人数据收集系统，能够产生更大的力和速度。该机器人的所有部件都可以通过电子商务采购，通过广泛使用钣金焊接，其大型机身结构用少量组件低成本构建，同时简化了组装。MEVION配备了四个带平行夹爪的6自由度手臂。每个手臂重7.0千克，最大扭矩为60牛米，整个系统的构建成本约为14000美元。肘关节采用类似于四足机器人的封闭连杆机构，减少了末端质量，使末端执行器能够实现更高的力和速度输出。我们证明，MEVION能够为以前无法实现的物体操作任务收集数据，并支持基于模仿学习的运动生成。这项工作的所有硬件和软件都包含在补充材料或此https URL中。
英文摘要
The global competition for developing robotic foundation models is intensifying. Among the data collection systems used for dual-arm robots, ALOHA is representative of being low-cost and open-source, and is widely adopted by researchers as a de facto standard. However, due to its limited ability to generate high forces and speeds, it is difficult to handle heavy objects or perform fast manipulations. To address this, we developed MEVION, a low-cost and open-source dual-arm robot data collection system capable of generating greater force and speed. All parts of this robot can be sourced through e-commerce, and by extensively utilizing sheet metal welding, its large body structure is constructed with a small number of components at low cost, while also simplifying assembly. MEVION is equipped with four 6-DoF arms with parallel grippers. Each arm weighs 7.0 kg and has a maximum torque of 60 Nm, and the entire system can be constructed for about USD 14,000. The elbow joint adopts a closed-link mechanism similar to those used in quadruped robots, which reduces the distal mass and enables higher force and speed output at the end-effector. We demonstrate that MEVION enables data collection for object manipulation tasks not previously possible and supports imitation learning-based motion generation. All hardware and software of this work are included in the Supplementary Materials or https://github.com/haraduka/mevion.
CommentsAccepted to IEEE Robotics and Automation Practice, website: https://haraduka.github.io/mevion-hardware/
