Navigation and manipulation in open-world environments remain unsolved challenges in the Embodied AI. The high cost of commercial mobile manipulation robots significantly limits research in real-world scenes. To address this issue, we propose AhaRobot, a low-cost and fully open-source dual-arm mobile manipulation robot system with a hardware cost of only $1,000 (excluding optional computational resources), which is less than 1/15 of the cost of popular mobile robots. The AhaRobot system consists of three components: (1) a novel low-cost hardware architecture primarily composed of off-the-shelf components, (2) an optimized control solution to enhance operational precision integrating dual-motor backlash control and static friction compensation, and (3) a simple remote teleoperation method RoboPilot. We use handles to control the dual arms and pedals for whole-body movement. The teleoperation process is low-burden and easy to operate, much like piloting. RoboPilot is designed for remote data collection in embodied scenarios. Experimental results demonstrate that RoboPilot significantly enhances data collection efficiency in complex manipulation tasks, achieving a 30% increase compared to methods using 3D mouse and leader-follower systems. It also excels at completing extremely long-horizon tasks in one go. Furthermore, AhaRobot can be used to learn end-to-end policies and autonomously perform complex manipulation tasks, such as pen insertion and cleaning up the floor. We aim to build an affordable yet powerful platform to promote the development of embodied tasks on real devices, advancing more robust and reliable embodied AI. All hardware and software systems are available at https://aha-robot.github.io.

本研究解决了具身人工智能领域中开放世界环境下的导航与操控问题，提出了一种仅需1000美元的低成本开源双臂移动操控机器人AhaRobot，成本是当前流行移动机器人的不足1/15。通过独特的硬件架构、优化控制方案及易于操作的远程遥控方法RoboPilot，该系统能有效提升复杂操控任务中的数据收集效率，推动具身任务的研究与发展。

AhaRobot：一种低成本开源双手移动操控器，面向具身人工智能