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arXiv · 2603.09051

Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation

Artemis Shaw·Chen Liu·Justin Costa·Rane Gray·Alina Skowronek·Kevin Diaz·Nam Bui·Nikolaus Correll
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Abstract

We present a bimanual mobile manipulator built on the open-source XLeRobot with integrated onboard compute for less than \$1300. Key contributions include: (1) optimized mechanical design maximizing stiffness-to-weight ratio, (2) a Tri-Bus power topology isolating compute from motor-induced voltage transients, and (3) embedded autonomy using NVIDIA Jetson Orin Nano for untethered operation. The platform enables teleoperation, autonomous SLAM navigation, and vision-based manipulation without external dependencies, providing a low-cost alternative for research and education in robotics and robot learning.

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Artemis Shaw, Chen Liu, Justin Costa, Rane Gray, Alina Skowronek, Kevin Diaz, Nam Bui, Nikolaus Correll. 2026-03-10. Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation. https://arxiv.org/abs/2603.09051

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