The perception system mainly consists of sensors capable of sensing different types of information, and belongs to the hardware component. These include sensors for vision, hearing, touch, taste, and smell. For example, in the field of vision, cameras are currently mostly used as visual sensors. These are combined with computers and television technology to give robots visual capabilities, allowing them to "see" the external environment. After the computer processes the images, commands can be given to the robot to perform certain actions.
The sensing system can be further divided into internal sensor modules and external sensor modules.
Internal sensors
Sensors used to detect the robot's own state (such as the angle between its arms) are mostly sensors that detect position and angle. Specifically, they include: position sensors, angle sensors, etc.
External sensors
Sensors are used to detect the robot's environment (e.g., detecting objects and their distance) and condition (e.g., detecting whether a grasped object has slipped). These include distance sensors, vision sensors, and force sensors.
