| Sensor type |
Number |
Notes
|
|---|
| Cameras |
2 |
Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480)
|
| Microphones |
2 |
SoundMan High quality Stereo Omnidirectional microphone, -46 dB, 10V, 20....20 000 Hz +/- 3dB
|
| Inertial sensors |
3+3 |
Three axis gyroscopes + three axis accelerometers + three axis geomagnetic sensor based on BOSCH BNO055 chip, mounted in the head. (100Hz)
|
| Joint sensors |
For each large joint |
Absolute magnetic encoder (12bit resolution @1kHz) at the joint, high-resolution incremental encoder at the motor side, hall-effect sensors for commutation (brushless motors only)
|
| Joint sensors |
For each small joint |
Absolute magnetic encoder (except the fingers which use a custom hall-effect sensor), medium-resolution incremental encoder at the motor
|
| Force/torque sensors |
6 |
6x6-axis force/torque sensors are mounted on the upper part of the arm and legs plus 2 additional sensors mounted closer to the ankle for higher precision ZMP estimation (100Hz)
|
| Tactile sensors |
More than 3000 (*) |
Capacitive tactile sensors (8 bit resolution at 40Hz) are installed in the fingertips, palms, upper and fore-arms, chest and optionally at the legs (*).
|