Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2504.05488 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915266414247936 |
|---|---|
| author | Imdieke, Adam Desingh, Karthik |
| author_facet | Imdieke, Adam Desingh, Karthik |
| contents | Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for bimanual robot manipulators. However, transitioning from in-person to remote teleoperation presents challenges in task performance. We introduce SPARK, a kinematically scaled, low-cost teleoperation system for operating bimanual robots. Its effectiveness is compared to existing technologies like the 3D SpaceMouse and VR/AR controllers. We further extend SPARK to SPARK-Remote, integrating sensor-based force feedback using haptic gloves and a force controller for remote teleoperation. We evaluate SPARK and SPARK-Remote variants on 5 bimanual manipulation tasks which feature operational properties - positional precision, rotational precision, large movements in the workspace, and bimanual collaboration - to test the effective teleoperation modes. Our findings offer insights into improving low-cost teleoperation interfaces for real-world applications. For supplementary materials, additional experiments, and qualitative results, visit the project webpage: https://bit.ly/41EfcJa |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_05488 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SPARK-Remote: A Cost-Effective System for Remote Bimanual Robot Teleoperation Imdieke, Adam Desingh, Karthik Robotics Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for bimanual robot manipulators. However, transitioning from in-person to remote teleoperation presents challenges in task performance. We introduce SPARK, a kinematically scaled, low-cost teleoperation system for operating bimanual robots. Its effectiveness is compared to existing technologies like the 3D SpaceMouse and VR/AR controllers. We further extend SPARK to SPARK-Remote, integrating sensor-based force feedback using haptic gloves and a force controller for remote teleoperation. We evaluate SPARK and SPARK-Remote variants on 5 bimanual manipulation tasks which feature operational properties - positional precision, rotational precision, large movements in the workspace, and bimanual collaboration - to test the effective teleoperation modes. Our findings offer insights into improving low-cost teleoperation interfaces for real-world applications. For supplementary materials, additional experiments, and qualitative results, visit the project webpage: https://bit.ly/41EfcJa |
| title | SPARK-Remote: A Cost-Effective System for Remote Bimanual Robot Teleoperation |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.05488 |