Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance, and reliance on expensive torque sensors. To address this, we introduce ARMADA (Affordable Robot for Manipulation and Dynamic Actions), a 6 degrees-of-freedom bimanual robot designed for dynamic manipulation research. ARMADA combines low-inertia, back-drivable actuators with a lightweight design, using readily available components and 3D-printed links for ease of assembly in research labs. The entire system, including both arms, is built for just $6,100. Each arm achieves speeds up to 6.16m/s, almost twice that of most collaborative robots, with a comparable payload of 2.5kg. We demonstrate ARMADA can perform dynamic manipulation like snatching, hammering, and bimanual throwing in real-world environments. We also showcase its effectiveness in reinforcement learning (RL) by training a non-prehensile manipulation policy in simulation and transferring it zero-shot to the real world, as well as human motion shadowing for dynamic bimanual object throwing. ARMADA is fully open-sourced with detailed assembly instructions, CAD models, URDFs, simulation, and learning codes. We highly recommend viewing the supplementary video at https://sites.google.com/view/im2-humanoid-arm.

翻译：动态及密集接触的物体操作（如击打、抓取或锤击）由于硬件限制，对机器人系统仍具挑战性。现有机器人大多受限于高惯性设计、有限柔顺性以及对昂贵扭矩传感器的依赖。为此，我们提出ARMADA（用于操作与动态动作的经济型机器人），一种专为动态操作研究设计的六自由度双臂机器人。ARMADA结合低惯性、可反向驱动的执行器与轻量化设计，采用易于获取的组件和3D打印连杆，便于研究实验室组装。包含双臂的完整系统造价仅为6,100美元。单臂运动速度可达6.16m/s，约为多数协作机器人的两倍，同时保持2.5kg的等效负载能力。我们验证了ARMADA能够在真实环境中执行抓取、锤击及双臂投掷等动态操作。通过仿真训练非抓握操作策略并零样本迁移至现实世界，以及演示人体运动影射实现动态双臂物体投掷，我们进一步展示了其在强化学习（RL）中的有效性。ARMADA项目完全开源，提供详细组装说明、CAD模型、URDF文件、仿真及学习代码。建议访问补充视频https://sites.google.com/view/im2-humanoid-arm。