We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct 3D-printed leader arms that share consistent control logic, enabling seamless compatibility with diverse commercial robot configurations. Compared with previous open-source leader-follower interfaces, we further optimized both the mechanical design and servo selection, achieving a bill of materials (BOM) cost of only \$50.5 for the 6-DoF leader arm and \$56.8 for the 7-DoF version. To enhance usability, we mitigate the common challenge in controlling redundant degrees of freedom by %engineering methods mechanical and control optimizations. Experimental results demonstrate that U-Arm achieves 39\% higher data collection efficiency and comparable task success rates across multiple manipulation scenarios compared with Joycon, another low-cost teleoperation interface. We have open-sourced all CAD models of three configs and also provided simulation support for validating teleoperation workflows. We also open-sourced real-world manipulation data collected with U-Arm. The project website is https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm.

翻译：我们提出U-Arm，一种低成本、快速适配的主从式遥操作框架，旨在与大多数市售机械臂对接。我们的系统通过三种结构不同但控制逻辑一致的3D打印主控臂实现遥操作，从而能够与多种商用机器人配置无缝兼容。与以往的开源主从接口相比，我们进一步优化了机械设计和伺服电机选型，使得6自由度主控臂的材料清单成本仅为50.5美元，7自由度版本为56.8美元。为提升易用性，我们通过机械与控制优化缓解了冗余自由度控制的常见难题。实验结果表明，与另一种低成本遥操作接口Joycon相比，U-Arm在多种操作场景中实现了39%更高的数据采集效率与相当的任务成功率。我们已开源三种配置的全部CAD模型，并提供了用于验证遥操作工作流程的仿真支持。同时，我们还开源了使用U-Arm采集的真实世界操作数据。项目网站为https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm。