[Joel_Mckay]

In general, remote operated equipment still suffers latency, and thus visual servoing doesn't work well even in ideal controlled lighting conditions.

One of the lowest-cost commercial UR5 options with force-feedback is usually packaged with a traditional turtle-bot research platform. These are safer to use around people without a cage, as you can set impact safety thresholds:

https://www.universal-robots.com/products/ur5e/

https://github.com/UniversalRobots/Universal_Robots_ROS_Driv...

The hardware is a solved problem, and there are 3D printed 5-axis and 7-axis community kits around too.

Have fun =3

[Xmd5a]

It's between 20k and 30k dollars. Maybe your profession is suffering from "industrial bias": it focuses only on high-end robotics because it's the only thing that makes sense economically for now and anything super-cheap is seen as laughable ? Wasn't it the case for FDM 3D printer too before they went mainstream in the 2010s ?

I just want to build a toy and explore what's possible with this technology for non-serious applications. The servos may wear too quickly ? I'm fine with that. However I have trouble figuring out how cheap I can go. If I can carry out a task using the "control arm" and the "working arm" performs ok, does that mean Aloha will be able to learn it ? What are the limits then ? What if my arms are really flexible (as flexible as a 10 cm section of a PLA filament for instance), but I manage to carry out the task, can something based on policy diffusion learn to handle the task with "bones" that flex and oscillate ?

[Joel_Mckay]

There are inexpensive educational products:

https://www.youtube.com/watch?v=4xD9QCBkxAs

https://www.anninrobotics.com/product-page/ar2-aluminum-and-...

https://www.omc-stepperonline.com/upgraded-ar4-robot-complet...

https://github.com/shoiland/ar4_ros_driver

YMMV as I haven't tried it myself, it looks like a solid aluminum frame with geared-stepper drivers. This means many of the axis will have minimal backlash behavior from the gears, but if you keep the driver power minimal you are less likely to strip off teeth when (not if) you make a programming error.

I also like that it is open design, as making it do something useful gets easier. You might be able to get away with a fully 3D printed plastic arm if your use case is not demanding. However, when stating your project goal in one sentence you will have to decide if you are A. building robots or B. solving some lab task.

Best of luck, one may find academic sponsorship/funding is easier than trying to recreate the wheel. Best of luck =3