PAPRLE (Plug-And-Play Robotic Limb Environment): A Modular Ecosystem for Robotic Limbs
Obin Kwon, Sankalp Yamsani, Noboru Myers, Sean Taylor, Jooyoung Hong, Kyungseo Park, Alex Alspach, Joohyung Kim
Abstract
We introduce PAPRLE (Plug-And-Play Robotic Limb Environment), a modular ecosystem that enables flexible placement and control of robotic limbs. With PAPRLE, a user can re-configure the arrangement of the robotic limbs, and control them with various kinds of devices, including puppeteers, handheld controllers, and VR device. To support diverse multi-limb setups, we also develop a pluggable puppeteer device that can be easily mounted and adapted to different robot configurations. PAPRLE unifies control signals across heterogeneous input devices and supports both task-space and joint-space control modalities, enabling control using puppeteers with different kinematic structures or devices without joint information, such as VR and handheld devices. It also offers feedback mechanisms for teleoperation, including force feedback between structurally dissimilar leader-follower pairs. The modular design of the system facilitates novel spatial arrangements of limbs and enables scalable data collection, thereby advancing research in embodied AI and learning-based control. We validate PAPRLE in real-world settings, demonstrating its versatility across diverse combinations of leader dev