In addition to procuring overseas hardware, we actively undertake customization and environment construction to match our customers' needs.
In this article, we will introduce how to customize the fixing frame of ALOHA, a two-handed teleoperated open source robotic arm that is popular for imitation learning applications.
What is ALOHA, the two-handed remote-controlled open source robot arm?
Aloha KitsTo do this, you need to operate the system from a dedicated desk. Aloha Stationary (Formerly known as the ALOHA Bimanual Teleoperation Kit) is a compact machine learning kit with a differential drive vehicle Aloha MobileThere is. Based on a technology (Transformer Action Chunking) that applies the concept of action chunking in the field of artificial intelligence research, it expresses small divided unit actions with the Transformer Encoder and approaches the realization of complex actions. The two arms in front can be operated with both hands, and the operation contents are linked to the two arms in the back, creating an environment for imitation learning at low cost.
For example, it can remotely control tasks that require a lot of contact, such as precise tasks like threading cable ties, or dynamic tasks like juggling ping-pong balls. Two-handed remote control has a success rate of about 80-90%.
For more information, please visit the Unipos website, our overseas product procurement service for research and development.
Problems with using ALOHA
Currently, the kit provided by the manufacturer, Trossen Robotics, includes not only the arm itself but also a complete frame for fixing the arm.
However, there are cases where the mounting frame provided by the manufacturer cannot be used as is due to differences in individual needs and environments, such as the customer's research theme, the contents of the experiment, the object to be operated, etc. We are happy to consult with you on solving problems that are tailored to your needs and environment.
For example ...
| ・Takes time to assemble - I want to be able to adjust the size of the mounting frame to fit the size of the desk. - I want to be able to freely move the arm position on the fixing frame to some extent. |
We can accommodate your requests.
We can redesign the dimensions of the mounting frame and provide you with the materials you need to create the ideal environment according to your needs.
Customize your ALOHA installation environment
As a concrete example, we will introduce a design image that realizes "moving the arm position" and "adjusting the size of the fixing frame to match the size of the desk."
■ Changing the arm position
The combination of the one-handed Master Slave is made into a single unit, and the frame is adjustable.
The frame where the arm is attached can slide back and forth.
■Adjust the size of the mounting frame to fit the size of your desk
Next, in the past, the weight support part was held by stretching rubber from an aluminum frame to support the arm, but by changing this to a fixed structure using a support pillar and tool balancer, we have made it possible to adjust the weight forward and backward while reducing the effort required for installation.
This allows for a certain degree of flexibility in terms of the desk environment in which the unit is installed.
Below is a summary of the parts used.
The parts required for the reassembly are generally available in Japan.
| Parts name | Quantity |
| Desk clamp | 2 (left and right) |
| Tool balancer | 4 |
| aluminum frame | Complete set (details omitted) |
| Bracket (for fixing aluminum frame) | Complete set (details omitted) |
| Frame cap (for protecting the aluminum frame) | Complete set (details omitted) |
| Plate (for preventing the aluminum frame from shifting) | Complete set (details omitted) |
| Aluminum Frame Nut | Complete set (details omitted) |
| screws | Complete set (details omitted) |
The actual installation image is as follows:
Not only can we customize the system, but we also provide on-site installation and setup, so please feel free to contact us for more information.
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■ For product customization, on-site installation, and setup inquiries, please click here
* Please enter the name of the case or your desired conditions. |
