The Hand is an autonomous 6DOF robotic arm that uses a camera module powered by a YOLOv8 model to perform multiple functions — including pouring a drink from a can or bottle into a cup, fully by itself.
This project was inspired by the countless 4DOF robotic arms on YouTube, but I wanted to combine my knowledge of Computer Vision and build something more technically impressive than the average engineering student project.
Checked off as I go.
Progress updated by Ramy
Designing a full 6DOF arm in SolidWorks with manufacturable joints, linkages, and mounting points — then printing and iterating on real hardware.
Designing a custom PCB in Altium Designer to power and control the arm's actuators, handle signal routing, and interface with the microcontroller.
Building a full ROS2 stack from URDF modelling to MoveIt motion planning, running forward and inverse kinematics for real-time arm control.
Writing low-level firmware for the STM32 to control servos and motors, handle sensor feedback, and communicate over serial protocols with the ROS2 stack.
Training and deploying a YOLOv8 model to detect and localise objects in real time via a camera module, feeding coordinates into the arm's control pipeline.
Tying everything together — writing performant C++ ROS2 nodes, integrating vision with motion planning, and debugging a full hardware-software system end to end.