Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables intuitive whole body control using readily available commodity hardware. Our system combines smartphone-based head tracking for camera control, leader arms for bilateral manipulation, and foot pedals for hands-free base navigation. Using a standard smartphone with IMU and display, we eliminate the need for costly VR helmets while maintaining immersive visual feedback. The modular architecture integrates seamlessly with the XLeRobot framework, but can be easily adapted to other types of mobile manipulators. We validate our approach through user studies that demonstrate improved task performance and reduced cognitive load compared to keyboard-based control.

翻译：移动双臂机械臂的遥操作需要同时控制高维系统，通常需要昂贵的专用设备。我们提出了一种开源遥操作框架，能够利用现成的通用硬件实现直观的全身控制。该系统结合了基于智能手机的头部追踪用于摄像头控制、主手手臂用于双侧操作，以及脚踏板用于免手控底盘导航。通过使用配备惯性测量单元（IMU）和显示屏的标准智能手机，我们在保持沉浸式视觉反馈的同时，消除了对昂贵VR头盔的需求。该模块化架构与XLeRobot框架无缝集成，同时可轻松适配其他类型的移动机械臂。我们通过用户研究验证了该方法，结果表明与基于键盘的控制相比，该方法显著提升了任务表现并降低了认知负荷。