IndexPlanning and controlActuatorExteroceptive sensorsProprioceptive sensorsHumanoid robots do not yet have some characteristics of the human body. They include structures with variable flexibility, which guarantee safety (for the robot itself and for people), and redundancy of movements, i.e. more degrees of freedom and therefore wide availability of tasks. While these characteristics are desirable for humanoid robots, they will bring greater complexity and new problems to planning and control. The field of whole-body control deals with these problems and addresses the correct coordination of numerous degrees of freedom, for example to accomplish several control tasks simultaneously following a given order of priority. Say no to plagiarism. Get a tailor-made essay on "Why Violent Video Games Shouldn't Be Banned"? Get an original essay Another characteristic of humanoid robots is that they move, collect information (using sensors) about the "real world" and interact with it. They don't sit still like factory manipulators and other robots that work in highly structured environments. To enable humanoids to navigate complex environments, planning and control must focus on self-collision detection, path planning, and obstacle avoidance. To maintain dynamic balance during walking, a robot needs information about the contact force and its current and desired motion. Stability The ability for bipedal robots to walk on the surface is of great importance. Maintaining the robot's center of gravity is the control objective. The essential difference between humanoids and other types of robots is that the robot's movement must be like that of humans, using legs, especially bipeds. The ideal planning of humanoid movements during normal walking should result in minimal energy consumption, as in the human body. Planning and Control Pneumatic actuators operate based on the compressibility of the gas. When they inflate, they expand along the axis, and when they deflate, they contract. If one end is fixed, the other will move along a linear trajectory. These actuators are intended for low speed and medium/low load applications. Pneumatic actuators include: cylinders, bellows, pneumatic motors, pneumatic stepper motors and pneumatic artificial muscles. Ultrasonic actuators are designed to produce micrometer movements at ultrasonic frequencies (above 20 kHz). They are useful for vibration control, positioning applications and fast switching. Piezoelectric actuators generate a small movement with a high force capacity when voltage is applied. They can be used for ultra-precise positioning and to generate and manage high forces or pressures in static or dynamic situations. Hydraulic and electric actuators have very rigid behavior and can only be made to act compliantly through the use of relatively complex feedback control strategies. While coreless motor electric actuators are best suited for high-speed, low-load applications, hydraulic ones work well in low-speed, high-load applications. Actuators are responsible for the movement or locomotion of the robot. Mainly, rotary actuators are used to achieve the same effect as human movement. They can be electric, hydraulic, piezoelectric, ultrasonic or pneumatic. These actuators act like the robot's muscles and joints, but with a different structural arrangement than the human body. Actuator The arrangement of tactels or tactile elements is used to.