5 papers
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…
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…
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…
Single and bi-layered 2-D acoustic soft tactile skin (AST2)
Vishnu Rajendran, Simon Parsons, Amir Ghalamzan E
This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactil…
Acoustic Soft Tactile Skin (AST Skin)
Vishnu Rajendran S, Willow Mandil, Simon Parsons +1
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels em…