Upper body
Maturity: Planned and under development.
The upper-body capability is represented by separate hardware, firmware and software repositories. It is not a separate product named “OpenAMH” in the current organization.
| Layer | Owning repository |
|---|---|
| Software | openamr-upperbody-sw |
| Firmware | openamr-upperbody-fw |
| Hardware | openamr-upperbody-hw |
| Manipulation integration | openamrobot-manipulation |
These repositories currently establish component boundaries and contribution destinations. Do not infer production readiness, validated payloads or safety certification from repository existence.
OpenAMRobot 2.0 upper body
Development cycle 2 mounts two OpenArm 2.0 arms on a DOLD Hexalift V4 lift column (option B, P-03 revision 18.9 item 18). The column stands on a base plate with two positions, centre and +50 mm; its axis is 330 mm behind the chassis front edge, at x = +0.060 m from base_link (bp000) or +0.110 m (bp050), P-03 revision 19.0. The OpenArm arm mount point is 180 mm ahead of the column axis, and the shoulder moves from 1000 mm to 1350 mm above the floor. Configuration IDs: column dold_v4_350 or tl3_400, base plate bp000 or bp050, head pitch hp15 to hp35, base tilt bt05 to bt15. See the general arrangement and the mass and stability model.