A comprehensive engineering reference covering the physics and design challenges of actuators in bipedal humanoid robots. Topics include the fatigue math of 5,000 steps per hour, the mass penalty spiral and reflected inertia, why roller screws outperform ball screws under shock loads, strain wave gearing vs. planetary gearboxes, thermal limits (peak vs. continuous torque, liquid cooling), control architecture from FOC to Model Predictive Control, series elastic actuators, and a decision matrix for matching actuator type to joint application. Written by an aerospace engineer and grounded in worked numerical examples throughout.
Table of contents
I. The Walking Problem: Why Humanoids Break ActuatorsII. The Mass Penalty SpiralIII. The Convergent Solution: The Split ArchitectureIV. The Gear Reduction Trade-offV. Thermal Reality Inside a Robot LegVI. Control Architecture: From PWM to Torque ControlVII. Compliance and Series Elasticity: The Physics of "Giving In"VIII. Sensing and Feedback: The Nervous SystemIX. Why Traditional Industrial Actuators Fail: The "Square Law" TrapX. The Master Decision Matrix: Matching Technology to MissionXI. Design Requirements for a Humanoid Joint ActuatorXII. The Future: Artificial Muscles and BeyondReferences & Essential ReadingSort: