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We present a bimanual mobile manipulator built on the open-source XLeRobot with integrated onboard compute for less than \$1300. Key contributions include: (1) optimized mechanical design maximizing stiffness-to-weight ratio, (2) a Tri-Bus…
Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost…
Current robots are either expensive or make significant compromises on sensory richness, computational power, and communication capabilities. We propose to leverage smartphones to equip robots with extensive sensor suites, powerful…
This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a material cost under $215. As an accessible…
Scaling Vision-Language-Action models for embodied manipulation demands large volumes of diverse manipulation data, yet the high cost of commercial mobile manipulators and teleoperation interfaces that are difficult to deploy at scale…
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and…
Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such…
Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human…
Dexterous object manipulation remains an open problem in robotics, despite the rapid progress in machine learning during the past decade. We argue that a hindrance is the high cost of experimentation on real systems, in terms of both time…
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct…
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research groups have opted to work with simulated or smaller robots,…
Developing real robotic systems requires a tight integration of mechanics, electronics and software. Most of the times, existing robotic platforms are either closed or expensive or both, and in-house solutions are costly to develop and…
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration.…
The high cost of robotic platforms limits students' ability to gain practical skills directly applicable in real-world scenarios. To address this challenge, this paper presents TARA, a low-cost, 3D-printed robotic arm designed for…
To increase the awareness and impact, soft robotics needs to go beyond the lab environment and should be readily accessible to those even with no robotic expertise. However, most prevailing manufacturing methodologies require either…
This paper describes the Pogobot, an open-source platform specifically designed for research at the interface of swarm robotics and active matter. Pogobot features vibration-based or wheel-based locomotion, fast infrared communication, and…
Shake tables serve as a critical tool for simulating earthquake events and testing the response of structures to seismic forces. However, existing shake tables are either expensive or proprietary. This paper presents the design and…