Humanoid-universe.com

This came up in a Discord I'm in and I wanted a more permanent place to discuss it. SLAM in a working warehouse is harder than in a controlled lab mainly because the map keeps changing - pallets move, people walk through, lighting shifts near dock doors - so a lot of production systems lean on semi-static maps refreshed periodically rather than pure continuous SLAM. 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. 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. Interested in both agreement and pushback here.

Slight correction, though the overall point stands: 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.

@kwilliams 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.

@noah_pate Agreed, and I'd add: 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. 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.

@jhansen From hands-on experience, 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. 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.

From hands-on experience, 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. Estimating joint torque from motor current draw is cheap and requires no extra sensor, but it's less accurate than a dedicated torque sensor because it doesn't capture friction losses through the gearbox - good enough for coarse control, not always for precise force-controlled tasks.

Thanks for laying this out, genuinely useful. 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.

To answer this directly: 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.

One nitpick - Vibration is one of the most underrated sources of noisy IMU and tactile readings - mounting matters as much as sensor quality, and a poorly isolated mount can add more noise than the sensor's own datasheet specs would suggest. Reminds me a bit of the early drone hobbyist scene, honestly.

@ethan17 Worth being a little skeptical of the marketing angle 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.