MEVION: Low-Cost Open-Source Data Collection System for Powerful and High-Speed Dual-Arm Manipulation

Abstract:The global competition for developing robotic foundation models is intensifying. Among the data collection systems used for dual-arm robots, ALOHA is representative of being low-cost and open-source, and is widely adopted by researchers as a de facto standard. However, due to its limited ability to generate high forces and speeds, it is difficult to handle heavy objects or perform fast manipulations. To address this, we developed MEVION, a low-cost and open-source dual-arm robot data collection system capable of generating greater force and speed. All parts of this robot can be sourced through e-commerce, and by extensively utilizing sheet metal welding, its large body structure is constructed with a small number of components at low cost, while also simplifying assembly. MEVION is equipped with four 6-DoF arms with parallel grippers. Each arm weighs 7.0 kg and has a maximum torque of 60 Nm, and the entire system can be constructed for about USD 14,000. The elbow joint adopts a closed-link mechanism similar to those used in quadruped robots, which reduces the distal mass and enables higher force and speed output at the end-effector. We demonstrate that MEVION enables data collection for object manipulation tasks not previously possible and supports imitation learning-based motion generation. All hardware and software of this work are included in the Supplementary Materials or this https URL.

Robotics (cs.RO)

arXiv:2607.17970 [cs.RO]

(or arXiv:2607.17970v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.17970 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.