ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866909925429477376 |
|---|---|
| author | Yan, Rui Fu, Jiajian Yang, Shiqi Paulsen, Lars Cheng, Xuxin Wang, Xiaolong |
| author_facet | Yan, Rui Fu, Jiajian Yang, Shiqi Paulsen, Lars Cheng, Xuxin Wang, Xiaolong |
| contents | Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback, cross-embodiment generalization, and portable, user-friendly designs, limiting their practical deployment. To address these limitations, we introduce ACE-F, a cross embodiment foldable teleoperation system with integrated force feedback. Our approach leverages inverse kinematics (IK) combined with a carefully designed human-robot interface (HRI), enabling users to capture precise and high-quality demonstrations effortlessly. We further propose a generalized soft-controller pipeline integrating PD control and inverse dynamics to ensure robot safety and precise motion control across diverse robotic embodiments. Critically, to achieve cross-embodiment generalization of force feedback without additional sensors, we innovatively interpret end-effector positional deviations as virtual force signals, which enhance data collection and enable applications in imitation learning. Extensive teleoperation experiments confirm that ACE-F significantly simplifies the control of various robot embodiments, making dexterous manipulation tasks as intuitive as operating a computer mouse. The system is open-sourced at: https://acefoldable.github.io/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_20887 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation Yan, Rui Fu, Jiajian Yang, Shiqi Paulsen, Lars Cheng, Xuxin Wang, Xiaolong Robotics Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback, cross-embodiment generalization, and portable, user-friendly designs, limiting their practical deployment. To address these limitations, we introduce ACE-F, a cross embodiment foldable teleoperation system with integrated force feedback. Our approach leverages inverse kinematics (IK) combined with a carefully designed human-robot interface (HRI), enabling users to capture precise and high-quality demonstrations effortlessly. We further propose a generalized soft-controller pipeline integrating PD control and inverse dynamics to ensure robot safety and precise motion control across diverse robotic embodiments. Critically, to achieve cross-embodiment generalization of force feedback without additional sensors, we innovatively interpret end-effector positional deviations as virtual force signals, which enhance data collection and enable applications in imitation learning. Extensive teleoperation experiments confirm that ACE-F significantly simplifies the control of various robot embodiments, making dexterous manipulation tasks as intuitive as operating a computer mouse. The system is open-sourced at: https://acefoldable.github.io/ |
| title | ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.20887 |