KUKAloha: A General, Low-Cost, and Shared-Control based Teleoperation Framework for Construction Robot Arm

• URL: http://arxiv.org/abs/2603.20129v1
• Date: Fri, 20 Mar 2026 16:51:30 GMT
• Title: KUKAloha: A General, Low-Cost, and Shared-Control based Teleoperation Framework for Construction Robot Arm
• Abstract summary: KUKAloha is a general, low-cost, and shared-control teleoperation framework for construction robot arms.<n>We implement the framework on a KUKA robot arm and conduct a usability study with representative construction manipulation tasks.
• Score: 3.966748430445195
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents KUKAloha, a general, low-cost, and shared-control teleoperation framework designed for construction robot arms. The proposed system employs a leader-follower paradigm in which a lightweight leading arm enables intuitive human guidance for coarse robot motion, while an autonomous perception module based on AprilTag detection performs precise alignment and grasp execution. By explicitly decoupling human control from fine manipulation, KUKAloha improves safety and repeatability when operating large-scale manipulators. We implement the framework on a KUKA robot arm and conduct a usability study with representative construction manipulation tasks. Experimental results demonstrate that KUKAloha reduces operator workload, improves task completion efficiency, and provides a practical solution for scalable demonstration collection and shared human-robot control in construction environments.

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