Editing Humanoid robot (section)

===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.