An Open-Source Robot Arm for Human Manipulation Data Collection

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Abstract

As technology evolves, robots designated for niche tasks are becoming obsolete, and success relies on robots that are capable of adapting to human environments — resulting in a surge in development of humanoid robotics. However, current robotic arm solutions present a challenge: high-performance systems are often prohibitively expensive or proprietary, while accessible options lack the necessary technical capabilities for advanced research. To address this, OpenArm was created as an open-source platform, providing a robust and affordable entry point into humanoid robotics. It’s scalable and modifiable design supports various research applications, including teleoperation, reinforcement learning, and imitation learning, with dedicated software and simulation examples in Gazebo, MoveIt, and Genesis. The Reazon HI Lab team aims to foster community-driven development and incorporate user feedback to advance humanoid robotics research through OpenArm's open-source nature.

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openarm v0.2.mp4

Project Overview

OpenArm is a fully open-source humanoid robot arm designed to support AI/ML researchers, humanoid developers, and enthusiasts looking for an affordable, capable system.

Hardware Design:

OpenArm’s hardware is designed to maximize affordability and capability, there are several key features that directly contribute to this criteria:

• Manufacturing: Uses sheet metal & CNC machining for durability, overcoming the limitations of 3D-printed components — entirely self-purchasable online.
• Modular & Scalable: Users can modify parts to fit different motors, end effectors, and additional components via provided STEP files.
• High-precision DAMIAO BLDC motors with integrated planetary gearboxes to reduce backlash and optimize control.
  • Currently supports CAN communication for motor control at speeds up to 1Mbps.
  • Capable of control frequency of 1kHz with CANFD integration (planned for future versions of OpenArm)

Software & Simulation:

To support research and development efforts, OpenArm is designed to work with various simulation software and provide the necessary software tools for rapid testing and iteration: