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Bimanual Dexterity for Complex Tasks
The adapter on GELLO for the glove.
Full Assembly of Glove + Teacher Arm.
Glove with the 1/4" adapter that Manus provides.
LEAP Hand v2
Teleoperation System cost. Please see GELLO for further details on the arm teleoperation and our code for the hands.
Mobile Base, hands and arm total cost.
Assembly Instructions
Manus Gloves
- Bidex uses the Quantum Mocap Metagloves (with edu discount costs ~$6000 for the pair).
- Once purchased, set them up with the Manus Core and C++ SDK. Our released Bidex software is a custom C++ SDK that sends the commands to a Python/ROS API for robotics use.
- Please see our Github for further details.
Teacher Arms
- Bidex uses the Gello teacher arm system. First, assemble the Gello for your partciular robot arm and setup the software.
- Next, mount the glove to GELLO. To do this, remove the gripper. Instead, 3D print a plastic block with a ~1/4" hole to insert a 1/4" heated brass insert. The glove can be screwed into this insert using the 1/4" mount provided by Manus.
- We provide our xArm6 GELLO and xArm850 GELLO which is based off of the GELLO by Phillipp Wu and Higrado. The files contain the 1/4" mounting block, a InnerDia 3/4" x OuterDia 1-3/8" bearing to strengthen the base of the Gello, and a simple design structure that is robust and easy to print.
LEAP Hand
- The LEAP Hand is the most popular robot hand in machine learning research. It is an open-source low-cost dexterous and anthropomorphic hand.
- LEAP Hand v1 is simpler to produce and is a benchmark in dexterous manipulation. LEAP v2 is an advanced hand with kinematic similarity and compliance to a human hand but is still fairly easy to 3D print and produce. Both are readily obtainable by any research lab.
Mobile Base
- We use the same mobile base as in Adaptive Mobile Manipulation for Articulated Objects In the Open World. Please see that paper for further details on the mobile base setup.
Cost Analysis
- The total cost of Bidex, gloves, teacher arms and LEAP Hands hands costs under $15k and are compatible with many existing robot arms. Even if you need to purchase two xArms ($8k each) the total cost is around $30k for the tabletop setup. The mobile base costs only around $6k more.