This thesis proposes a good method for reinforcing the perceptual functions and reaching interplay regulate of the iCub humanoid robotic. the tactic is predicated at the integration of measurements from diverse sensors (force/torque, inertial and tactile sensors) allotted alongside the robot’s kinematic chain. Humanoid robots require an excessive amount of sensor details to create their very own representations of the encompassing atmosphere. Tactile notion is of fundamental value for the exploration procedure. additionally in people, the tactile procedure is totally practical at delivery. In humanoid robotics, the measurements of forces and torques that the robotic exchanges with its atmosphere are crucial for secure interplay with the surroundings and with people. The method proposed during this thesis can effectively improve the perceptual functions of robots via exploiting just a constrained variety of either localized and disbursed sensors, offering a possible and handy resolution for attaining lively compliance regulate of humanoid robots.
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