AhaRobot: Open-Source Bimanual Manipulator for Embodied AI
AhaRobot is an affordable, entirely open-source bimanual mobile manipulator intended for research in embodied AI. It incorporates a dual-arm design similar to SCARA, which minimizes motor torque requirements while offering an extensive vertical workspace. The system boasts an enhanced control stack that includes dual-motor backlash reduction and static-friction compensation through dithering, alongside RoboPilot, a teleoperation interface featuring a 26-faced marker handle for accurate remote data gathering. It achieves a repeatability of 0.7 mm with an overall hardware expense of $1,000. This initiative seeks to facilitate the scaling of Vision-Language-Action models by delivering a cost-effective platform for varied manipulation data collection.
Key facts
- AhaRobot is a bimanual mobile manipulator
- Total hardware cost is $1,000
- Achieves 0.7 mm repeatability
- Features SCARA-like dual-arm design
- Includes RoboPilot teleoperation interface with 26-faced marker handle
- Control stack includes backlash mitigation and dithering compensation
- Designed for embodied AI and scaling VLA models
- Fully open-source
Entities
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