Internal Sensors: This diagram shows all the RoboSapien V2's internal sensors as well as their location.


The V2 has a fair range of varied internal senors. 4 Pots, 3 Tilt Switches, 5 Encoders and 2 Switches. I'll break them down by joints.

Neck

2 Encoders - These cover head rotating left and right, and tilting back and forward.

Left / Right Shoulder

1 Pot - Each shoulder has a single pot to determines its up / down orientatoin

Left / Right Wrist

1 Encoder - Each wrist has a 2 bit (4 position) encoder to determine its left / right rotation.

Left / Right Hand

1 Switch - Each hand has a switch that determines if the fingers have close around and object.

Waist

2 Pots - These determine the left / right rotation, and the orientation of the legs relative to the body.
1 Encoder - This 2 bit (2 / 3 position) encoder determines the left / right tilt of the waist.
1 Tilt Switch - This determines if the torso is vertical with respect to the ground.

Left / Right Foot

1 Tilt Switch - These determine if the V2 is lying face down or on its back.


Torso: This photo shows the encoder in the chest of the RoboSapien V2 that determines the head left/right orientation as well as hands open / closed.Left Hand: This photo shows the inside of the RoboSapien V2's left handRight Hip: This photo shows the sensor in the RoboSapien V2's right hip that measures the Torso's orientation with respect to the legs.Right Hip: This photo shows the sensor in the RoboSapien V2's right hip that measures the Torso's orientation with respect to the legs.