Proprioception and Internal State Estimation: Joint Encoders, Torque Sensing, and Body Schema for Humanoid Robots

Key Points

• This research aims to understand how humanoid robots can estimate their internal states using proprioception and related mechanisms.
• Analyzed the role of joint encoders and torque sensing in humanoid robots.
• Investigated how these components contribute to the body schema of robots.
• Examined the integration of sensory information for improved proprioception.
• Joint encoders significantly enhance the accuracy of movement tracking.
• Torque sensing improves the estimation of joint position and force.
• The body schema framework supports better spatial awareness in humanoid robots.