Development of Anthropomorphic Arm for collaborative and Home Service Robot CHARMIE
Overview
This research abstract presents an open-source 3D-printed anthropomorphic arm designed for collaborative and home service robots. The system integrates teleoperation using a camera with machine learning-based hand pose estimation and employs the Denavit-Hartenberg method for kinematic control to determine end-effector positions in 3D space.
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Control: teleoperated
“idual or as a package is becoming common as more and more advanced collaborative robots come to the surface and join their human counterparts in the real world. This dissertation presents an open-source 3D-printed arm which was assembled and programmed on two fronts. The first is the control of the hand by utilising teleoperation with a camera and ML-based hand pose estimation. Secondly, it is the control via kinemat”
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- 2026-11-09T21:14:08.883Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalDevelopment of Anthropomorphic Arm for collaborative and Home Service Robot CHARMIE
This research abstract presents an open-source 3D-printed anthropomorphic arm designed for collaborative and home service robots. The system integrates teleoperation using a camera with machine learning-based hand pose estimation and employs the Denavit-Hartenberg method for kinematic control to determine end-effector positions in 3D space.
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