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This paper presents a novel robotic arm system, named PAPRAS (Plug-And-PlayRobotic Arm System). PAPRAS consists of a portable robotic arm(s), dockingmount(s), and software architecture including a control system. By analyzingthe target task spaces at home, the dimensions and configuration of PAPRAS aredetermined. PAPRAS's arm is light (less than 6kg) with an optimized 3D-printedstructure, and it has a high payload (3kg) as a human-arm-sized manipulator. Alocking mechanism is embedded in the structure for better portability and the3D-printed docking mount can be installed easily. PAPRAS's softwarearchitecture is developed on an open-source framework and optimized forlow-latency multiagent-based distributed manipulator control. A process tocreate new demonstrations is presented to show PAPRAS's ease of use andefficiency. In the paper, simulations and hardware experiments are presented invarious demonstrations, including sink-to-dishwasher manipulation, coffeemaking, mobile manipulation on a quadruped, and suit-up demo to validate thehardware and software design.

PAPRAS: Plug-And-Play Robotic Arm System