Low-Cost Tele-Operated Mobile
Manipulator - Cheap Arm Project (CHAP).
This project is aimed at
developing a design for a tele-operated mobile manipulator costing
less than £5000.
The design will be open source for anyone to build and improve.
for Neural and Robotic Systems
many former students (Arunaganesan Swaminathan (base+motor
housing), Khushdeep Singh Mann (manipulator), Dominic Cassidy
and technical support staff (Bob Williams, Zoltan Gombos, Mike Sloman,
John Eastment, Sheila Storm).
1. University of Plymouth and private donations.
Progress on prototype V1
(see summary video)
- The mobile manipulator is made of
distinct components that can be individually redesigned. See the Github site.
- Built the mobile platform with
three MX-28 dynamixel servos and omnidirectional wheel. Programming
its motion programmed either from a Tartarus Board (Plymouth
University Design) or from Raspberry Pi using Python and the
- Built the "Mast" and its lifting
mechanism for robot arm. Moved to RX-64 + pulleys system for
lifting force doubling. Added stop switches at top and bottom.
- Teleoperation interface.
- CHAP was demonstrated at the
exhibition Off the Lip 2016, with only one set of batteries needed for
4h of operation. Children remote-controlled the robot for hours and
had fun. The good news is that CHAP passed the children's test without
any damage or failure.
Guido Bugmann, 6
January 2017 email
- Replacing some of the Dynamixel
Servos with cheaper alternatives.
- Populate the Github
- Run user tests.
- Learning object-specific fetching
- Promoting and supporting building a
copy of CHAP elsewhere.