Design and Implementation of a Robotic Arm and Mobile Base with Wireless Operator Limb Motion Mimicry Using ROS
Philip Olufemi Babalola, Temitayo Akanbi-Bello, Emmanuel Gibson, Oluwaseun Kilanko, Solomon Olanrewaju Banjo · 2026
This report presents the design and implementation of a robotic arm and mobile base with wireless operator limb motion mimicry, developed using the Robot Operating System (ROS). The project aims to create a versatile robotic system capable of mimicking the movements of a human operator&s;s limbs in a wireless control setup. The robotic system, named “Tayson”, consists of a mobile base equipped with omnidirectional wheels for enhanced manoeuvrability, and a multi-degree-of-freedom robotic arm capable of replicating the motion of the human operator&s;s limbs. The kinematic equations and torque calculations for the robotic arm are derived and analysed to ensure optimal performance. The model of the robotic arm was created using Autodesk Inventor, It was simulated using Gazebo and the system was implemented by using ROS noetic on Ubuntu 20.04 and ESP32 WROOM microcontroller. The implementation of the project involves the integration of various hardware components, including motors, servo motors, microcontrollers, and sensor modules, all coordinated through the ROS framework. The wireless control is achieved using a custom-designed glove and a PlayStation 4 controller, allowing the operator to control the robot&s;s movements intuitively. The project showcases the successful design, development, and testing of the robotic system, demonstrating the potential for applications in areas such as remote manipulation, teleoperation, and rehabilitation. The findings of this study contribute to the advancement of human-robot interaction and the development of versatile robotic platforms.