OpenArm Overview
7-DOF humanoid robotic arm for physical AI research and contact-rich manipulation
OpenArm is a fully open-source, 7-degree-of-freedom (7-DOF) humanoid robotic arm platform designed for physical AI research, contact-rich manipulation, and real-world data-driven robotics. Originally designed by Enactic and officially supported by CEREBOTO, OpenArm exposes its entire hardware and software stack.
Design Philosophy
Accessibility — Research-grade humanoid manipulation at a fraction of traditional cost.
Openness — Complete access to CAD, firmware, control software, simulation assets, manufacturing data.
Practicality — Optimized for real-world tasks, repeated experimentation, long-term deployment.
Safety — Human-centered design with compliance, backdrivability, mechanical limits.
Mechanical Architecture
Human-scale proportions (633 mm reach), 7 DOF per arm, ~5.5 kg per arm. Modular aluminum frame, uniform M6 mounting grid. Rated payload 4.1 kg, peak 6.0 kg.
Software Ecosystem
Modular XACRO-based URDF, ROS2 integration, MuJoCo and Isaac Sim support. Real-time gravity compensation, impedance and force control, bilateral teleoperation with force feedback.
Data-Centric Design
OpenArm is designed as a data generation platform: structured recording, imitation learning datasets, repeatable human demonstrations, sim-to-real alignment.