Proprioceptive sensing is a robot’s perception of its own internal state, such as joint angles, motor torques, link velocities, and body orientation, as distinct from exteroceptive sensing of the external environment. It relies on encoders, force/torque sensors, and inertial measurement units. It is essential for balance, whole-body control, and safe interaction, especially in legged and humanoid robots.
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- Joint encoders report angles, force/torque sensors measure interaction loads, and IMUs estimate body attitude and angular rates. Fused at high rate, these signals enable closed-loop joint control, balance and posture regulation, contact detection, and torque-limited compliant motion. In legged and humanoid systems, proprioception is indispensable for dynamic stability when external sensing is delayed or occluded.