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Body sensing unit

The Body Sensing Unit is responsible for collecting and preprocessing data from a wide array of sensors distributed across the robot’s torso and limbs. This subsystem enables the robot to perceive its environment accurately and respond adaptively, supporting tasks such as obstacle detection, posture monitoring, and environmental mapping.

Key Design Challenges

The unit must efficiently synchronize and process diverse sensor inputs-including inertial, temperature, pressure, human presence, Time-of-Flight —with low latency to maintain real-time situational awareness. Continuous operation demands ultra-low power consumption to maximize battery life. Additionally, accurate sensor fusion is essential to integrate heterogeneous data streams into a coherent understanding of the robot’s surroundings.

STMicroelectronics Product Portfolio

  • Inertial sensors: High-performance MEMS Inertial Measurement Units i.e IMUs combining accelerometer and gyroscope together to compensate for tilt and gravitational force changes in real-life environments. Multiple IMUs can be used for Functional Safety redundancy and to minimize the noise level, ST is offering specialized automotive quality ASIL-B library safety engine for demanding application with automotive grade IMUs. Standalone accelerometers and inclinometers can be used to detect shocks and accurate angle changes at different positions of the robot. Magnetometer can provide absolute orientation based on earth gravitational field measurement.
  • Infrared sensors and Time-of-Flight sensors: Infrared sensor can detect human presence and Time-of-flight measure also accurate distance to object next to humanoid robot.
  • Temperature and Pressure sensors: To measure temperature from different portions of the robot and with pressure sensor accurate altitude information to detect robot falling down accidentally.
  • STM32G4 and STM32H7 Microcontrollers: Ultra-low-power MCUs optimized for sensor data acquisition, preprocessing, and initial fusion tasks. With built-in safety features for Functional safety.
  • Connectivity Solutions: Industrial-grade CAN and RS-485 transceivers provide reliable wired communication for sensor data transmission with related data line protection components.
  • Power Management ICs: Efficient voltage regulators to provide right supply voltages and current levels for different robot required blocks.

ST Total Solution Advantages

STMicroelectronics offers a comprehensive sensor portfolio combined with low-power processing and robust connectivity to enable precise and energy-efficient environmental sensing. The availability of sensor fusion and Functional safety software libraries and reference designs accelerates development, helping engineers quickly implement reliable perception systems tailored to humanoid robotics.STMicroelectronics offers a comprehensive sensor portfolio combined with low-power processing and robust connectivity to enable precise and energy-efficient environmental sensing. The availability of sensor fusion and Functional safety software libraries and reference designs accelerates development, helping engineers quickly implement reliable perception systems tailored to humanoid robotics.