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4. Sensors
4.1 Encoders
Encoders are essential for assessing the robot's current status. Very high accuracy is required, particularly for the legs, to prevent impact when the flight leg lands. With an electric actuator, the encoder, usually an incremental encoder, is fixed on the motor shaft, which, given the reduction ratio, gives very good joint displacement accuracy. Typically, the joint accuracy of a robot like the HRP-2 is of the order of a few thousandths of a degree. The position of the body to which the actuator is attached is calculated from the model of the relationship between encoder and actuator. Errors can be caused by actuator elasticity, flexibilities and mechanical clearances. Few robots, such as ARMAR or iCub, have a direct readout of joint positions, i.e. after reduction, to...
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Sensors
Conclusion
Bibliography
Websites
IEEE Technical committee on Humanoid Robotics http://www.ieee-ras.org/humanoid-robotics
Description of Robot Operating System (ROS), official website http://www.ros.org/ (page consulted on 13/02/2014)
Official...
Events
International Conference on Humanoid Robots, Innorobo
Standards and norms
International Electrotechnical Commission (page consulted 03/03/2014) http://www.iec.ch/dyn/www/f?p=103:7:0::::FSP_ORG_ID,FSP_LANG_ ID:1256,25
Directory
Manufacturers (non-exhaustive list)
Robot – Manufacturer – Website
ARMAR – KIT http://www.his.anthropomatik.kit.edu/english/241.php
ASIMO – Honda http://www.asimo.honda.com/
...
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