An Open-Source Tele-Operated Mobile Manipulator: CHAP V1

  • Guido Bugmann
  • Dominic Cassidy
  • Paul Doyle
  • Khushdeep Singh Mann
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10454)


Teleoperated mobile manipulators are of use for disabled people and for the wider public interested in acting at distance. The high price of existing devices is a barrier to their diffusion. The paper reports on the first design produced in the Cheap Arm Project (CHAP). It costs less than £2000, uses easily available parts and can be assembled by anybody with basic technical skills. The manipulator can reach objects from floor-level up to shelves at a height of 170 cm using a new low-cost arm design. Teleoperation is be done using a tablet, smartphone or browser. The cost could be further reduced by using different servo motors. The design and assembly instructions are made available on the open-source repository GitHub, with the hope that the community will build and improve the design. The first version has been tested in a college for disabled young people who provided initial recommendations for improvement.


Teleoperation Teleoperated Disability Assistive Robot 



We gratefully acknowledge the contribution of Parag Khanna to the design of the gripper and that of Arunaganesan Swaminathan to the design of the base and its control.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Guido Bugmann
    • 1
  • Dominic Cassidy
    • 1
  • Paul Doyle
    • 2
  • Khushdeep Singh Mann
    • 1
  1. 1.Plymouth UniversityPlymouthUK
  2. 2.Hereward CollegeCoventryUK

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