  This paper describes the development of a humanoid robot called ARDOP. The
goal of the project is to provide a modular, open-source, and inexpensive
humanoid robot that would enable researchers to answer various problems related
to robotic manipulation and perception. ARDOP primarily comprises of two
functional units namely the perception and manipulation system, here we discuss
the conceptualization and design methodology of these systems and proceed to
present their performance results on simulation and various custom-designed
experiments.
