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Mobile ALOHA

Quick Overview

A state-of-the-art bimanual mobile manipulation platform developed by Stanford University that serves as inspiration for Johnny Autoseed’s robotics systems. Demonstrates the feasibility of mobile garden manipulation using affordable components.

Status: Reference Design Updated: 2024-12-17 Source: mobile-aloha.github.io

Core Technology

Mobile ALOHA exemplifies what’s possible with current robotics technology, combining:

• Dual robotic arms for complex manipulation
• Mobile base for garden navigation
• Computer vision for task perception
• Whole-body teleoperation capabilities

Hardware Components

Total cost: ~$31,758

• 2x ViperX 300 Robot Arms ($6,130 each)
• 2x WidowX 250 Robot Arms ($3,550 each)
• 1x Tracer AGV mobile base ($7,000)
• Compute unit and cameras (~$2,800)
• Frame and mounting hardware (~$500)
• Power systems and miscellaneous (~$2,000)

Relevance to Johnny Autoseed

Inspiration for Product Lines

1. Johnny Balcony (Mini)

   • Simplified single-arm design
   • 3D printed components
   • Compact form factor
   • Balcony/patio focus

2. Johnny Lawn (Standard)

   • Dual-arm configuration
   • Enhanced mobility
   • Yard-scale operations
   • Based on FarmBot Genesis

3. Johnny XL

   • Commercial grade
   • Multi-robot coordination
   • Large area coverage
   • Industrial applications

Key Adaptations

• Custom 3D printed arms for cost reduction
• Integration with FarmBot base system
• Simplified control mechanisms
• Weather-resistant design
• Open-source components

Technical Implementation

graph TD
    A[Mobile ALOHA] --> B[Hardware]
    A --> C[Software]
    A --> D[Integration]
    
    B --> B1[Dual Arms]
    B --> B2[Mobile Base]
    B --> B3[Vision System]
    
    C --> C1[Control]
    C --> C2[Navigation]
    C --> C3[Task Planning]
    
    D --> D1[FarmBot]
    D --> D2[Custom Arms]
    D --> D3[AI System]

Key Learnings

1. Cost Optimization

   • 3D printing reduces arm costs
   • Modular design enables repairs
   • Open-source components available

2. Design Considerations

   • Weather protection needed
   • Power management crucial
   • Simplified maintenance important

3. Integration Points

   • FarmBot compatibility
   • Computer vision systems
   • Control interfaces

Resources & Links

Internal Connections

• Johnny Autoseed - Main project
• FarmBot - Base platform
• 3D Printed Arms - Custom development

External Resources

• Mobile ALOHA Project
• Hardware Guide
• CAD Files

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Connections

• Areas: Projects | Robotics | Research
• Topics:roboticsmobile-manipulationautomation
• Related: Johnny Autoseed | FarmBot | Robot Arms

Last updated: 2024-12-17