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Merged
ZhuYaoHui1998 merged 1 commit into from
Oct 20, 2026
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docs: add reBot Arm HMI to RS community contributions #101

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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -144,6 +144,7 @@ We continuously maintain and adapt to mainstream robot development ecosystems. B
| Ecosystem | Author | Description | Repository |
| :--- | :---: | :--- | :--- |
| iPhone, HEBI Mobile I/O and Meta Quest teleoperation | [@ammarjmahmood](https://github.com/ammarjmahmood) | Move a phone or a Quest controller and the gripper follows, using the relative pose mapping from TidyBot++ (CoRL 2024): native SwiftUI and ARKit iPhone app, HEBI Mobile I/O, WebXR passthrough on Quest, a 200 Hz MIT driver with gravity feedforward, IK on the official RS URDF and safety interlocks. Tested on a B601-RS with an iPhone 16 Pro Max. | [rebot-phone-teleop](https://github.com/ammarjmahmood/rebot-phone-teleop) |
| Handheld HMI, Zephyr RTOS / CAN / ROS 2 | [@xiayip](https://github.com/xiayip) | A handheld terminal for reBot Arm RS with live joint telemetry, encoder-based position control, damping/impedance modes, hand-guided trajectory recording and replay, persistent Flash storage, and ROS 2 controller-switch requests. | [reBot_Arm_HMI](https://github.com/xiayip/reBot_Arm_HMI) · [Video demo](https://www.bilibili.com/video/BV1MNnw6gEEe/) |

## ⚙️ Hardware Specifications

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1 change: 1 addition & 0 deletions README_zh.md
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Expand Up @@ -138,6 +138,7 @@ RS 版本提供两种套件方案：
| 对应生态 | 作者 | 说明 | 仓库 |
| :--- | :---: | :--- | :--- |
| iPhone、HEBI Mobile I/O 与 Meta Quest 遥操作 | [@ammarjmahmood](https://github.com/ammarjmahmood) | 移动手机或 Quest 手柄，夹爪随之运动，采用 TidyBot++（CoRL 2024）的相对位姿映射：原生 SwiftUI 与 ARKit iPhone 应用、HEBI Mobile I/O、Quest WebXR 透视模式，200 Hz MIT 驱动、重力前馈、基于官方 RS URDF 的逆运动学与安全联锁。已在 B601-RS 与 iPhone 16 Pro Max 上测试。 | [rebot-phone-teleop](https://github.com/ammarjmahmood/rebot-phone-teleop) |
| 掌上交互终端，Zephyr RTOS / CAN / ROS 2 | [@xiayip](https://github.com/xiayip) | 面向 reBot Arm RS 的掌上交互终端，支持关节实时监测、编码器位置控制、阻尼/阻抗模式、拖动示教与轨迹回放、Flash 持久化保存，以及 ROS 2 控制器切换请求。 | [reBot_Arm_HMI](https://github.com/xiayip/reBot_Arm_HMI) · [实机演示](https://www.bilibili.com/video/BV1MNnw6gEEe/) |

## ⚙️ 硬件参数

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