An inexpensive, tabletop-sized robot able to provide teleoperation input to full-sized robots.

The project consists of a standardized encoder module, 3D printing procedure, and assembly process that is generalizable between a wide variety of robots. Novel methods for calibration and real-time input sanitization for collision prevention are also presented. A prototype puppet is presented for a 6DOF industrial robot with a total material cost of $85. ​

ROBOPuppet

<p>The project consists of a standardized encoder module, 3D printing procedure, and assembly process that is generalizable between a wide variety of robots. Novel methods for calibration and real-time input sanitization for collision prevention are also presented. A prototype puppet is presented for a 6DOF industrial robot with a total material cost of $85.</p><h3><strong>Specifications</strong></h3><ul><li>Cost to build is under $100 due to mostly 3D printed components</li><li>Enables users to physically guide with the robotic arm through a "Joystick" approach</li><li>Can be used for diagnostics of the arm if any malfunction is to be explored</li><li>Printed on a Makerbot Replicator 2X using ABS 1.75mm filament. 3D printing took the team 29 hours</li><li>Once the parts are printed, the assembly and joint encoder alignment can be completed in approximately 1.5 hours.</li></ul>

Research paper

Duke project page

An inexpensive, tabletop-sized robot able to provide teleoperation input to full-sized robots.

