Humanoid Robot Actuators: The Complete Engineering Guide
Summary
This comprehensive engineering piece analyzes humanoid actuator design, detailing how the Mass Penalty Spiral constrains mass, the rotary-linear split, and the control architectures that enable safe, dynamic locomotion. It contrasts physical compliance (SEAs) with virtual compliance (QDD/impedance), explains thermal limits and the shift to liquid cooling, and provides knee joint specs and future directions toward artificial muscles.