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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.09051 |
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| _version_ | 1866915880155217920 |
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| author | Shaw, Artemis Liu, Chen Costa, Justin Gray, Rane Skowronek, Alina Diaz, Kevin Bui, Nam Correll, Nikolaus |
| author_facet | Shaw, Artemis Liu, Chen Costa, Justin Gray, Rane Skowronek, Alina Diaz, Kevin Bui, Nam Correll, Nikolaus |
| contents | 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 power topology isolating compute from motor-induced voltage transients, and (3) embedded autonomy using NVIDIA Jetson Orin Nano for untethered operation. The platform enables teleoperation, autonomous SLAM navigation, and vision-based manipulation without external dependencies, providing a low-cost alternative for research and education in robotics and robot learning. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_09051 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation Shaw, Artemis Liu, Chen Costa, Justin Gray, Rane Skowronek, Alina Diaz, Kevin Bui, Nam Correll, Nikolaus Robotics 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 power topology isolating compute from motor-induced voltage transients, and (3) embedded autonomy using NVIDIA Jetson Orin Nano for untethered operation. The platform enables teleoperation, autonomous SLAM navigation, and vision-based manipulation without external dependencies, providing a low-cost alternative for research and education in robotics and robot learning. |
| title | Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.09051 |