Humanoid-universe.com

Small correction on one detail: 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.

Genuinely curious - 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.

I'd take that specific number with a grain of salt, honestly. Unitree's Dex3-1 dexterous hand packs around 33 pressure/tactile sensors per hand across the fingers and palm, capable of sensing pressure roughly in the 10g-2500g range - a useful reference point for what 'production tactile sensing' looks like right now. Latency between a perceived event (like a slip) and a corrective control response matters enormously for balance - even 50-100ms of extra perception latency can be the difference between a smooth recovery and a fall, which is part of why a lot of balance-critical sensing is proprioceptive rather than vision-based.

Not sure I fully agree here. 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. A minimum viable sensing suite for safe bipedal walking generally includes joint encoders, an IMU for orientation/angular velocity, and either force/torque sensing or accurate current-based torque estimation at the ankles - everything else (vision, tactile, LiDAR) adds capability rather than being strictly required just to stay upright.

Agreed, and I'd add: 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.

@emily.walker2 Not sure I fully agree here. A minimum viable sensing suite for safe bipedal walking generally includes joint encoders, an IMU for orientation/angular velocity, and either force/torque sensing or accurate current-based torque estimation at the ankles - everything else (vision, tactile, LiDAR) adds capability rather than being strictly required just to stay upright.

Follow-up question though - 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.

@jlefebvre 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. 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.

Respectfully, I think this undersells it a bit. 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. 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.

Here's the relevant bit as far as I understand it: 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. Latency between a perceived event (like a slip) and a corrective control response matters enormously for balance - even 50-100ms of extra perception latency can be the difference between a smooth recovery and a fall, which is part of why a lot of balance-critical sensing is proprioceptive rather than vision-based.