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cs.RO2026
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models
Nestor N. Deniz, Simon Parsons, Fernando Auat Cheein
Humanoid robots performing in-field manipulation tasks, such as robotic apple harvesting, face severe energy constraints that directly limit the number of reaching motions that can…
cs.RO2026
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm
Nestor N. Deniz, Sebastian Vega, Simon Parsons +1
Accurate prediction of electrical power consumption is essential for energy-aware motion planning, battery management, and thermal monitoring in battery-powered humanoid robots. Th…
cs.RO2024
Enabling Tactile Feedback for Robotic Strawberry Handling using AST Skin
Vishnu Rajendran, Kiyanoush Nazari, Simon Parsons +1
Acoustic Soft Tactile (AST) skin is a novel sensing technology which derives tactile information from the modulation of acoustic waves travelling through the skin's embedded acoust…