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simmediummanipulation-datametric · varies
UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation
Description
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating heterogeneous input devices into a shared control stack with consistent kinematic treatment and safety guarantees The framework employs nullspace control to optimize bimanual configurations ensuring smooth collisionfree and singularityaware motion across tasks We