# PAPRAS: Plug-And-Play Robotic Arm System

arXiv: https://arxiv.org/abs/2302.09655 · HTML: https://mlsanity.com/paper/2302.09655/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Feb 2023.

## Built on by (most cited first, 1 of 1)

- [Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction](https://mlsanity.com/paper/2605.28412/) (2026)

## Abstract (arXiv)

This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target task spaces at home, the dimensions and configuration of PAPRAS are determined. PAPRAS's arm is light (less than 6kg) with an optimized 3D-printed structure, and it has a high payload (3kg) as a human-arm-sized manipulator. A locking mechanism is embedded in the structure for better portability and the 3D-printed docking mount can be installed easily. PAPRAS's software architecture is developed on an open-source framework and optimized for low-latency multiagent-based distributed manipulator control. A process to create new demonstrations is presented to show PAPRAS's ease of use and efficiency. In the paper, simulations and hardware experiments are presented in various demonstrations, including sink-to-dishwasher manipulation, coffee making, mobile manipulation on a quadruped, and suit-up demo to validate the hardware and software design.