Hardware

Humanoid Robot Sensor Stack

The matrix marks documented sensor presence. An unrecorded pairing is labelled unknown rather than absent.

Updated 2026-09-20Source observations through 2026-07-31. Analysis revised separately.Open all humanoid data charts

Data summary

What is included

The matrix marks documented sensor presence. An unrecorded pairing is labelled unknown rather than absent.

Visible rows

Dataset scope

TechniaHQRobot source-linked dataset

Interactive infographic

Humanoid Robot Sensor Stack

The matrix marks documented sensor presence. An unrecorded pairing is labelled unknown rather than absent.

RobotSensorLocation

Listed means documented presence. Unknown means no confirming record in this dataset.
Robot	Depth camera	3D LiDAR	Dual joint encoders	9-axis IMU	Six-microphone array	Joint encoders	IMU	Joint torque sensors	Six-axis force-torque sensors	Temperature sensors	RGB cameras	Microphones	Foot force-sensitive resistors	Ultrasonic sonar	Capacitive tactile sensors	Foot bumpers	Joint position sensors	Cameras	2D LiDAR	Head cameras	Palm cameras	Fingertip tactile sensors	Full-body proprioception	Intel RealSense camera	Ring microphone	Monocular camera	Six-axis IMU	Omnidirectional microphone	Tactile sensors	LiDAR	Stereo cameras	RGB-D cameras	Binocular RGB camera	Fisheye cameras	GPS and GPS RTK	UWB positioning	Shoulder tactile sensors	Eight-microphone array
Unitree G1	Listed	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
Unitree H1	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
Booster T1	Listed	Unknown	Listed	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
PAL Robotics TALOS	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Listed	Listed	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
NAO6	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Unknown	Unknown	Unknown	Listed	Listed	Listed	Listed	Listed	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
Reachy 2	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
Figure 03	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Listed	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
Fourier GR-1	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
Fourier GR-3	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Listed	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
Agility Digit	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown
AgiBot A3 Ultra	Unknown	Listed	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Unknown	Listed	Listed	Listed	Listed	Listed	Listed	Listed

Accessible data table

The table contains the same source-linked records used by the chart. It is the reference when labels overlap or a visual scale compresses values.

Source-linked data used in the infographic
Robot	Sensor	Officially confirmed	Location	Notes	Evidence	Source
Unitree G1	Depth camera	Yes	Head	Officially listed perception sensor.	Official specification	Unitree G1 official product pageChecked 2026-07-31
Unitree G1	3D LiDAR	Yes	Head	Officially listed perception sensor.	Official specification	Unitree G1 official product pageChecked 2026-07-31
Unitree G1	Dual joint encoders	Yes	Joints	Motor-side and joint-side encoder arrangement.	Official specification	Unitree G1 official product pageChecked 2026-07-31
Unitree H1	Depth camera	Yes	Head	Officially listed.	Official specification	Unitree H1 official product pageChecked 2026-07-31
Unitree H1	3D LiDAR	Yes	Head	Officially listed.	Official specification	Unitree H1 official product pageChecked 2026-07-31
Booster T1	Depth camera	Yes	Head	Officially listed.	Official specification	Booster T1 official product pageChecked 2026-07-31
Booster T1	9-axis IMU	Yes	Body	Officially listed.	Official specification	Booster T1 official product pageChecked 2026-07-31
Booster T1	Six-microphone array	Yes	Head	Officially listed.	Official specification	Booster T1 official product pageChecked 2026-07-31
Booster T1	Dual joint encoders	Yes	Joints	Officially listed.	Official specification	Booster T1 official product pageChecked 2026-07-31
PAL Robotics TALOS	Joint encoders	Yes	Joints	Officially listed.	Official specification	PAL Robotics TALOS official product pageChecked 2026-07-31
PAL Robotics TALOS	IMU	Yes	Torso	Officially listed.	Official specification	PAL Robotics TALOS official product pageChecked 2026-07-31
PAL Robotics TALOS	Joint torque sensors	Yes	Most actuated joints	The product page excludes head, wrists and grippers.	Official specification	PAL Robotics TALOS official product pageChecked 2026-07-31
PAL Robotics TALOS	Six-axis force-torque sensors	Yes	Wrists and ankles	Officially listed.	Official specification	PAL Robotics TALOS official product pageChecked 2026-07-31
PAL Robotics TALOS	Temperature sensors	Yes	Actuators	Officially listed.	Official specification	PAL Robotics TALOS official product pageChecked 2026-07-31
NAO6	RGB cameras	Yes	Head	Official technical overview.	Official specification	Aldebaran NAO technical documentationChecked 2026-07-31
NAO6	Microphones	Yes	Head	Official technical overview.	Official specification	Aldebaran NAO technical documentationChecked 2026-07-31
NAO6	IMU	Yes	Torso	Official technical overview.	Official specification	Aldebaran NAO technical documentationChecked 2026-07-31
NAO6	Foot force-sensitive resistors	Yes	Feet	Official technical overview.	Official specification	Aldebaran NAO technical documentationChecked 2026-07-31
NAO6	Ultrasonic sonar	Yes	Torso	Two emitters and two receivers.	Official specification	Aldebaran NAO sonar documentationChecked 2026-07-31
NAO6	Capacitive tactile sensors	Yes	Head and hands	Three head sensors and three sensors per hand.	Official specification	Aldebaran NAO tactile sensor documentationChecked 2026-07-31
NAO6	Foot bumpers	Yes	Feet	Four contact bumpers.	Official specification	Aldebaran NAO tactile sensor documentationChecked 2026-07-31
NAO6	Joint position sensors	Yes	Joints	Official technical overview.	Official specification	Aldebaran NAO technical documentationChecked 2026-07-31
Reachy 2	Cameras	Yes	Head	Official SDK and hardware documentation.	Official specification	Pollen Robotics Reachy 2 specificationsChecked 2026-07-31
Reachy 2	2D LiDAR	Yes	Mobile base	Official mobile-base specification.	Official specification	Pollen Robotics Reachy 2 mobile base specificationsChecked 2026-07-31
Reachy 2	Microphones	Yes	Head	Official SDK and hardware documentation.	Official specification	Pollen Robotics Reachy 2 specificationsChecked 2026-07-31
Figure 03	Head cameras	Yes	Head	Used for primary visual perception.	Official specification	Figure 03 official introductionChecked 2026-07-31
Figure 03	Palm cameras	Yes	Hands	One camera in each palm.	Official specification	Figure 03 official introductionChecked 2026-07-31
Figure 03	Fingertip tactile sensors	Yes	Fingertips	Officially described as detecting approximately 3 g of pressure.	Official specification	Figure 03 official introductionChecked 2026-07-31
Figure 03	Full-body proprioception	Yes	Joints and body	Used by Helix 02.	Official specification	Figure Helix 02 official technical articleChecked 2026-07-31
Fourier GR-1	Intel RealSense camera	Yes	Head	Officially listed.	Official specification	Fourier GR-1 official product pageChecked 2026-07-31
Fourier GR-1	RGB cameras	Yes	Body	Six RGB cameras are listed.	Official specification	Fourier GR-1 official product pageChecked 2026-07-31
Fourier GR-1	Ring microphone	Yes	Head	Officially listed.	Official specification	Fourier GR-1 official product pageChecked 2026-07-31
Fourier GR-3	Monocular camera	Yes	Head	Officially listed.	Official specification	Fourier GR-3 official specificationsChecked 2026-07-31
Fourier GR-3	Six-axis IMU	Yes	Torso	Officially listed.	Official specification	Fourier GR-3 official specificationsChecked 2026-07-31
Fourier GR-3	Omnidirectional microphone	Yes	Head	Officially listed.	Official specification	Fourier GR-3 official specificationsChecked 2026-07-31
Fourier GR-3	Tactile sensors	Yes	Head and torso	Officially listed for interaction surfaces.	Official specification	Fourier GR-3 official specificationsChecked 2026-07-31
Agility Digit	LiDAR	Yes	Torso/head assembly	Official product information.	Official specification	Agility Robotics Digit product informationChecked 2026-07-31
Agility Digit	Stereo cameras	Yes	Head	Official product information.	Official specification	Agility Robotics Digit product informationChecked 2026-07-31
AgiBot A3 Ultra	3D LiDAR	Yes	Torso/head assembly	Officially listed.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31
AgiBot A3 Ultra	RGB-D cameras	Yes	Chest and pelvis	One manipulation RGB-D camera and one terrain-perception RGB-D camera.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31
AgiBot A3 Ultra	Binocular RGB camera	Yes	Head	Interaction camera.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31
AgiBot A3 Ultra	Fisheye cameras	Yes	Sides and rear	Surround-view perception.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31
AgiBot A3 Ultra	GPS and GPS RTK	Yes	Body	Officially listed.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31
AgiBot A3 Ultra	UWB positioning	Yes	Body	Officially listed.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31
AgiBot A3 Ultra	Shoulder tactile sensors	Yes	Shoulders	Officially listed.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31
AgiBot A3 Ultra	Eight-microphone array	Yes	Front and rear	Officially listed.	Official specification	AgiBot A3 Ultra official developer documentationChecked 2026-07-31

Methodology

How the dataset is built

A sensor is marked present only when an official manufacturer page or technical document names it. Absence from a page is not recorded as false; unconfirmed cells remain absent from the dataset.

Editorial analysis

Forty-six pairings describe sensing coverage

Each record links one robot to a sensor and its location. Multiple rows for one robot therefore describe its sensing layout, not multiple units in a fleet. The sample spans cameras, inertial sensors, encoders, force sensing and contact sensing.

Location changes what a sensor can observe

A head camera sees a different workspace from a palm camera. Wrist force sensing measures a different interaction from a foot contact sensor. For manipulation, ask whether the signal remains available when the hand or carried object blocks the view.

Presence does not establish data quality

This matrix does not compare frame rate, latency, calibration or access through an SDK. Those details are needed to judge whether a sensor suits a control loop. Blank evidence should prompt a documentation check rather than a claim that the robot lacks the sensor.

Frequently asked questions

Does an unknown cell mean the sensor is missing?

No. It means that this dataset has no recorded source confirming that robot–sensor pairing.

Sources

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