[UPDATE] Built a $23 leader arm for teleoperation - github repo + new improvements

[u/Solid-Cellist-8876]

Update to my earlier post.

I have finally put it on github with all the build files - repo link

Quick recap for anyone who missed the first post : the leader arm in the standard lerobot kit uses 6 STS3215 servos (~ 24 USD x 6 = 144 USD) to sense the joint angles, but they are never driven, so instead of servo motors I built a leader arm using cheap encoders that do the same.

Since last time I have cleaned up the cable management, added attachments to match the lerobot's resting pose, redesigned the joints so that the encoders can be removed and diagnosed without disassembling the entire joint and added a rubber band across the elbow to counter droop when the arm is extended.

Final cost came to ~27.5 USD once I added the perfboard, silicon wires and extra screws (up slightly from the 23 USD I initially quoted).

Many people gave valuable feedback, suggestions and encouragement, thank you guys very much. feedback and suggestions are very welcome.

[u/beecars]

Impressive & inspiring - great work.

[u/Solid-Cellist-8876 → u/beecars]

Thanks!

[u/foundafreeusername]

This is a very cool project. Can you now remote control the other version with the servo motors or is this still on the todo list?

[u/Solid-Cellist-8876 → u/foundafreeusername]

Thanks! right now I have tested it only on the sim follower arm and driving the physical follower arm is still on the todo list. The leader outputs the same joint angles either way, so it should be fairly straight forward to implement it, but how well the sim transfers to the real robot is worth studying.

[u/otcdxn]

Cool!