Mercury X1 humanoid robot 19 degrees of freedom is the primary hardware platform in the thesis.
Mercury X1 was selected because it provides an embodied robotic system for manipulation experiments.
LiDAR sensor provides 3D point cloud for obstacle detection.
ultrasonic sensors detect proximity at short range.
2D vision camera RGB stream for object recognition.
The sensors include LiDAR, ultrasonic sensors, and 2D vision for environment perception.
Technical specifications table lists the Mercury X1 mobility, manipulation hardware, and sensor suite.
ROS# middleware bridges ROS topics to Unity simulation and allows Unity/.NET applications to communicate with ROS nodes, topics, services, and messages.