This paper presents KUKAloha, a general, low-cost, and shared-control teleoperation framework designed for construction robot arms. The proposed system employs a leader-follower paradigm in which a lightweight leading arm enables intuitive human guidance for coarse robot motion, while an autonomous perception module based on AprilTag detection performs precise alignment and grasp execution. By explicitly decoupling human control from fine manipulation, KUKAloha improves safety and repeatability when operating large-scale manipulators. We implement the framework on a KUKA robot arm and conduct a usability study with representative construction manipulation tasks. Experimental results demonstrate that KUKAloha reduces operator workload, improves task completion efficiency, and provides a practical solution for scalable demonstration collection and shared human-robot control in construction environments.

翻译：本文提出KUKAloha，一种专为建筑机器人臂设计的通用、低成本、共享控制遥操作框架。该系统采用主从范式：轻量化主端引导臂支持人类直觉式引导，实现机器人粗运动控制；基于AprilTag检测的自主感知模块则负责精确定位与抓取执行。通过显式地将人工控制与精细操作解耦，KUKAloha在操作大型机械臂时提升了安全性与可重复性。我们在KUKA机器人臂上实现该框架，并选取代表性建筑操作任务开展可用性研究。实验结果表明，KUKAloha可降低操作员工作负荷、提升任务完成效率，并为建筑环境中可扩展的示范数据收集与共享人机控制提供了实用方案。