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In lieu of making today’s world working environment better for humans, the field of robotics has taken up new challenge these days with devices like humanoid type robot which works on human command. Robotic arm is one of the most important parts of the humanoid. In this paper, the design of robotic arm that can be used to pick up objects of given shape and color is described. The robotic arm works with a voice command from user. This arm is realized using servo motor for joints of robotic arm, Bluetooth module, Arduino Uno, MATLAB software and a mounted camera. The designed robotic arm is practically implemented to demonstrate its effectiveness such that it is able to pick objects of given shape and color using voice command from user. The task is completed using control of servo motors via Arduino board/ MATLAB software and a camera.