Editing Humanoid robot (section)

==Sensors==
A [[sensor]] is a device that measures some attribute of the world. Being one of the three primitives of robotics (besides planning and control), sensing plays an important role in [[robotic paradigms]].

Sensors can be classified according to the physical process with which they work or according to the type of measurement information that they give as output. In this case, the second approach was used.<ref>{{Cite web|last=Magdy|first=Khaled|date=2020-08-01|title=What Are Different Types Of Sensors, Classification, Their Applications?|url=https://deepbluembedded.com/different-types-sensors-applications/|access-date=2021-11-05|website=DeepBlue|language=en-us}}</ref>

===Proprioceptive===
[[Proprioceptive]] sensors sense the position, orientation, and speed of the humanoid's body and joints, along with other internal values.<ref>{{Cite book|last1=Siegwart|first1=Roland|url=http://www.cs.cmu.edu/~rasc/Download/AMRobots4.pdf |archive-url=https://web.archive.org/web/20180827191325/http://www.cs.cmu.edu/~rasc/Download/AMRobots4.pdf |archive-date=2018-08-27 |url-status=live|title=Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents series) second edition|last2=Nourbakhsh|first2=Illah|last3=Scaramuzza|first3=Davide|publisher=MIT Press|year=2004|isbn=0262015358|pages=Chapter 4}}</ref>

In human beings, the otoliths and semi-circular canals (in the inner ear) are used to maintain balance and orientation.<ref>{{Cite web|title=How does the balance system work?|url=https://www.eyeandear.org.au/page/Patients/Patient_information/Balance_Disorders/How_does_the_balance_system_work/|access-date=2021-11-05|website=Royal Victorian Eye and Ear Hospital|language=en|archive-date=2021-10-23|archive-url=https://web.archive.org/web/20211023142812/https://www.eyeandear.org.au/page/Patients/Patient_information/Balance_Disorders/How_does_the_balance_system_work/|url-status=dead}}</ref> Additionally, humans use their own proprioceptive sensors (e.g. touch, muscle extension, limb position) to help with their orientation. Humanoid robots use [[accelerometer]]s to measure the acceleration, from which velocity can be calculated by integration;<ref>{{cite journal |last1=Nistler |first1=Jonathan R. |last2=Selekwa |first2=Majura F. |title=Gravity compensation in accelerometer measurements for robot navigation on inclined surfaces |journal=Procedia Computer Science |date=2011 |volume=6 |pages=413–418 |doi=10.1016/j.procs.2011.08.077 |doi-access=free }}</ref> [[tilt sensor]]s to measure inclination; force sensors placed in robot's hands and feet to measure contact force with environment;<ref>{{Cite web|date=2016-05-12|title=Types of Tactile Sensor and Its Working Principle|url=https://www.elprocus.com/tactile-sensor-types-and-its-working/|access-date=2021-11-05|website=ElProCus - Electronic Projects for Engineering Students|language=en-US}}</ref> position sensors that indicate the actual position of the robot (from which the velocity can be calculated by derivation);<ref>{{Cite web|title=Content - Differential calculus and motion in a straight line|url=https://amsi.org.au/ESA_Senior_Years/SeniorTopic3/3i/3i_2content_5.html|access-date=2021-11-05|website=amsi.org.au}}</ref> and even speed sensors.

=== Exteroceptive ===
[[Image:Shadow Hand Bulb large Alpha.png|thumb|upright=0.75|An [[artificial]] [[hand]] holding a [[lightbulb]]]]

Arrays of [[tactile sensor|tactels]] can be used to provide data on what has been touched. The [[Shadow Hand]] uses an array of 34 tactels arranged beneath its [[polyurethane]] skin on each finger tip.<ref>{{Cite web|url=http://www.shadowrobot.com/hand/techspec.shtml|title=Shadow Robot Company: The Hand Technical Specification|access-date=2009-04-09|url-status=dead|archive-url=https://web.archive.org/web/20080708193055/http://www.shadowrobot.com/hand/techspec.shtml|archive-date=2008-07-08}}</ref> Tactile sensors also provide information about forces and torques transferred between the robot and other objects.

[[Computer vision|Vision]] refers to processing data from any modality which uses the electromagnetic spectrum to produce an image. In humanoid robots it is used to [[Object recognition|recognize objects]] and determine their properties. Vision sensors work most similarly to the eyes of human beings. Most humanoid robots use [[Charge-coupled device|CCD]] cameras as vision sensors.

Sound sensors allow humanoid robots to hear speech and environmental sounds, akin to the ears of the human being. [[Microphone]]s are usually used for the robots to convey speech.