Phase 4 — Arms Real
Arms, with the brain in control.
Phase 4 adds two arms and the software to drive them. The arms are mechanical. The control is where the AI lives.
A ROS package handles the kinematics. Given a target position in space, it produces the joint angles needed to reach it. Given a sequence of positions, it produces a trajectory. The package is the bridge between the brain’s intent and the arms’ motion.
The brain orchestrates tasks at the level of goals, not joint angles. “Pick up the mug” becomes a sequence of perceived positions and kinematic commands. The same brain reasoning that turned voice into navigation in Phase 3 now turns voice into manipulation.
Milestone is “Chappie manipulates”. The brain orchestrating arm motion to complete a useful task end-to-end. Voice in, real work out.