Table of contentsPlanning and controlActuatorExteroceptive sensorsProprioceptive sensorsHumanoid robots do not yet possess certain characteristics of the human body. They include structures with variable flexibility, which ensure safety (of the robot itself and people) and redundancy of movements, that is to say more degrees of freedom and therefore greater availability of tasks. Although these characteristics are desirable for humanoid robots, they will bring more complexity and new planning and control problems. The field of whole-body control addresses these questions and addresses the proper coordination of many degrees of freedom, for example to perform multiple control tasks simultaneously while following a given order of priority. Say no to plagiarism. Get a tailor-made essay on “Why Violent Video Games Should Not 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 do not stand still like factory handlers and other robots that work in highly structured environments. To enable humanoids to move in complex environments, planning and control must focus on self-collision detection, path planning, and obstacle avoidance. To maintain dynamic balance while walking, a robot needs information about contact force and its current and desired movement. The presence of bipedal robots walking 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 similar to that of humans, using legs, especially bipeds. Ideal planning of humanoid movements during normal walking should result in minimal energy consumption, as is the case in the human body. Planning and ControlPneumatic actuators operate on the basis of gas compressibility. When inflated, they expand along the axis, and when deflated, they contract. If one end is fixed, the other will move in a linear path. These actuators are intended for low speed and low/medium load applications. Among the pneumatic actuators there are: cylinders, bellows, pneumatic motors, pneumatic stepper motors and pneumatic artificial muscles. Ultrasonic actuators are designed to produce movements in the micrometer range at ultrasonic frequencies (above 20 kHz). They are useful for vibration control, positioning applications and rapid switching. Piezoelectric actuators generate a small movement with high force capacity when a 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 a very rigid behavior and can only be made to act in a compliant manner through the use of relatively complex components. feedback control strategies. While coreless electric motor actuators are best suited for high speed, low load applications, hydraulic actuators perform well in low speed, high load applications. Actuators are responsible for the movement or locomotion of the robot. Rotary actuators are mainly used.