Humanoid-universe.com

Slight correction, though the overall point stands: Event cameras (which report per-pixel brightness changes rather than full frames) are still more of a research curiosity than a production sensor for humanoids, mainly because the software ecosystem and processing pipelines around them are far less mature than for standard frame-based cameras. Force/torque sensors near the ankle give a direct read on ground reaction forces, which is valuable for balance control, but they add cost, a failure point, and routing complexity right at a joint that already takes the most mechanical abuse. Makes me wonder how this looks in another five years.

@ssantos Minor factual note: LiDAR gives reliable, lighting-independent range data but is heavier, pricier, and gives sparser point clouds up close than stereo or depth cameras, which is why a lot of humanoids lean on stereo/depth cameras for near-field manipulation and reserve LiDAR (if present at all) for longer-range navigation.

Minor factual note: Event cameras (which report per-pixel brightness changes rather than full frames) are still more of a research curiosity than a production sensor for humanoids, mainly because the software ecosystem and processing pipelines around them are far less mature than for standard frame-based cameras.

Yeah, this tracks with what I've read as well. Force/torque sensors near the ankle give a direct read on ground reaction forces, which is valuable for balance control, but they add cost, a failure point, and routing complexity right at a joint that already takes the most mechanical abuse.

@sharonschmidt This lines up with my experience. Event cameras (which report per-pixel brightness changes rather than full frames) are still more of a research curiosity than a production sensor for humanoids, mainly because the software ecosystem and processing pipelines around them are far less mature than for standard frame-based cameras. Sensor fusion mostly earns its keep by covering for each individual sensor's weaknesses - vision struggles with occlusion and lighting, IMUs drift, force/torque sensors are noisy at low loads - fusing them gives a more robust estimate than any one source alone, independent of raw compute.

Small correction on one detail: Multi-camera calibration drifts over time from thermal expansion, vibration, and mechanical wear, which is why production systems typically run periodic recalibration routines rather than assuming a one-time factory calibration holds forever. This whole thread is a good reminder how young this field still is.

@gimbalyuk55 Here's the relevant bit as far as I understand it: Force/torque sensors near the ankle give a direct read on ground reaction forces, which is valuable for balance control, but they add cost, a failure point, and routing complexity right at a joint that already takes the most mechanical abuse. Depth sensing range and reliability both degrade outdoors in direct sunlight for most structured-light and active stereo cameras, since the ambient IR washes out the projected pattern - it's a real limitation for humanoids intended for anything beyond indoor, controlled environments.

@choi98 Minor factual note: Tactile skin arrays have improved a lot, but 'good enough to matter' really depends on the task - coarse contact detection across a large area is fairly mature, while fine, high-resolution force distribution sensing (like a human fingertip) is still the harder problem. Event cameras (which report per-pixel brightness changes rather than full frames) are still more of a research curiosity than a production sensor for humanoids, mainly because the software ecosystem and processing pipelines around them are far less mature than for standard frame-based cameras.

Here's what I know on this: IMU drift over time (bias instability) is usually the real culprit behind slowly diverging state estimates, not noise - it's typically handled with sensor fusion against other references (visual odometry, joint kinematics) rather than trying to eliminate drift at the source. Proprioception (the robot's sense of its own joint angles, velocities, and forces) tends to get less attention than flashy vision systems, even though a lot of balance and manipulation failures trace back to proprioceptive noise or miscalibration rather than a vision problem.

@ethan17 Short answer: Force/torque sensors near the ankle give a direct read on ground reaction forces, which is valuable for balance control, but they add cost, a failure point, and routing complexity right at a joint that already takes the most mechanical abuse.