The old xv6 is x86-based and it's not officialy maintained anymore.
Or Xinu: https://xinu.cs.purdue.edu. There's a BeagleBone (ARM) port.
If you really did want to work with an existing OS for actual research/experimentation purposes, and you're a fan of C, I would go with Plan 9/9front. There's a reason Bell Labs ditched Unix--because it wasn't a worthy research platform anymore.
For something non-X86, try digging at: http://wiki.osdev.org/Projects Perhaps you can find something suits your preference.
Which is sensible. There's way too much legacy crap and ugliness that needs to be dealt with in that ISA to distract from the purpose of the project, which is to teach OS development.
- Get multitasking working in x86 since there are a ton of guides for that. Learn OSdev concepts.
- Read the ARMARM. It's many thousands of pages of dense technical material, nearly everything you need to get started. The only parts it doesn't cover are boot media/formats and peripherals.
There aren't good resources for ARM osdev because the environment is not standardized at all. ARM chips are used everywhere and you're often targeting specific boards, not chips. Writing the ARM-specific stuff is only half the battle.