PathOn Robotics BMM — Bimanual Mobile Manipulator

The PathOn Robotics BMM is a bimanual mobile manipulator: two 7-DOF robot arms on a height-adjustable column, carried by an omnidirectional swerve-drive base. We built and run it in-house in Silicon Valley for restaurant and food-assembly tasks.

Highlights

• Two arms, 14 DOF. 2× OpenArm V2 (7 DOF each), with 4.1 kg nominal and 6.0 kg peak payload per arm.
• Swerve-drive base. 4× REV MAXSwerve modules with NEO Vortex motors, so it drives in any direction and turns in place.
• Lift column. Dual-motor lift (800 N max load) that raises and lowers the arms, with an encoder for height feedback.
• 3D perception. Livox Mid-360 lidar and Intel RealSense D435i depth camera.
• Autonomous navigation. ROS 2 Jazzy, lidar-inertial mapping and localization, and Nav2.
• Arm planning. MoveIt, with the arms and navigation shown together in one RViz session.
• Autonomous docking and charging. When the battery runs low, the robot drives itself back to its charging station, guided by an AprilTag marker.
• Power. 36 V / 25 Ah battery, isolated 24 V supplies for each arm, and a hardware E-stop.
• Calibration tools included. Align every sensor to the robot: cameras (depth and RGB) to the arms for accurate grasping, and lidars to the base for mapping and navigation. There are two ways to do it:
  • Quick setup: our calibration software walks you through hand-eye calibration with a ChArUco board, with no coding needed.
  • Full control: the open calibration code and documentation, so you can understand, modify, or extend each step for your use case.

Options

• DIY kit. Base, lift, arm mount, printed parts, and our build documentation. You assemble it.
• Assembled and tested. Built, wired, and brought up by us, with local pickup in the Bay Area or freight shipping.
• Arms. Bring your own OpenArm V2, or ask us about sourcing a pair.

How to order

Every build is configured to order. Email info@pathon.ai and tell us:

• the configuration you want (DIY kit or assembled, with or without arms),
• your use case,
• your timeline.

We'll reply with a price and lead time.

Safety note

OpenArm is a research arm, not a collaborative robot. It has no built-in collision detection. Operate the BMM with people kept clear of the arms' range of motion, and keep the E-stop within reach.