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ALPHA-α is a low-cost bimanual leader-follower teleoperation platform built from four 6-DOF OpenMANIPULATOR SARA arms (two leaders, two followers). It uses four-channel bilateral control to teleoperate with both position and force feedback, enabling force-aware imitation learning (Bi-ACT) for everyday two-handed manipulation. Developed at The University of Osaka as an open, roughly-half-the-cost alternative to ALOHA-class rigs.
~$8,663 reported DIY build cost (self-sourced parts); no official list price
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ALPHA-α is a stationary, DIY-friendly bimanual robot-learning platform centered on force-feedback bilateral teleoperation. Each of the two arms is an OpenMANIPULATOR SARA with 6 degrees of freedom, arranged in a leader-follower configuration (four manipulators total). The system supports position, velocity, and torque (current) control modes and collects joint angles, velocities, and torques at 1000 Hz alongside RGB imagery at ~100 Hz. Its four-channel bilateral control lets a human operator feel environmental interaction forces during demonstration, which the Bi-ACT method exploits for force-aware imitation of everyday bimanual tasks. Reported build cost is about $8,663 for the four manipulators — more than half the cost of a comparable four-arm ALOHA setup (~$19,359). Published in IEEE Access, 2025.
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