Joint actuation
Joint actuation
Torque, speed, duty cycle, reducer ratio, encoder, brake and joint envelope.
Applications
Humanoid hardware priorities
Humanoid Robot Joint & Hardware Development
Plan and source the joints, actuators, reducers, wiring, structure, hands and sensing hardware your humanoid program needs before you request a quote.
AI-generated editorial scene for humanoid robot hardware development.
Humanoid hardware architecture
The hardware decisions that shape a humanoid platform.
Humanoid development is a connected hardware problem. Start with the joints that carry the load, then define the interfaces around the body so motion, wiring, sensing and compute can work together.
Structure & routing
Structure & routing
Link geometry, stiffness, mass targets, hollow-shaft routing and moving cable life.
Hands & interaction
Hands & interaction
Wrist load, dexterous hand payload, tool interfaces and force feedback.
Sensing & compute
Sensing & compute
Camera, depth, force, host compute, communication and time-sync context.
Featured decision / joint actuation
Start with the joints that define the rest of the robot.
Use the joint configurator when torque, speed and package limits are the first decisions to settle. Add reducer, encoder, brake, sensing, voltage and communication requirements as the design becomes more specific.
What to define first
Joint performance and package
- Continuous and peak output torque
- Output speed, duty cycle and design margin
- Total Degrees of Freedom (DoF), joint count and hollow-shaft joint routing
- Outer diameter, axial length, mass and hollow bore
- Reducer architecture, ratio, encoder and brake
- Motor power bus separation from absolute encoder feedback
- Encoder feedback protocol: SSI, BiSS-C, incremental or absolute
The configurator creates a starting shortlist. Final joint feasibility, interfaces, documentation and quotation require engineering confirmation.
Body-level integration decisions
Define the interfaces around the joint.
The right joint is only useful when it fits the moving structure, cable path, end-effector and sensing architecture around it.
Structure, links & moving harnesses
Structure, links & moving harnesses
Define load paths, stiffness, target mass, bend radius, connector access and serviceability before packaging a link or torso.
Load path · link geometry · cable exit · bend life
Explore structure and harness workHands, wrists & end-effectors
Hands, wrists & end-effectors
Capture wrist torque, dexterous hand payload, tool mounting, force sensing and the electrical interface needed at the end of the chain.
Payload · moment · tool interface · feedback
Explore end-of-arm capabilitiesVision, force sensing & host compute
Vision, force sensing & host compute
Connect camera and depth channels, force feedback, host compute, communication and time-sync requirements to the physical robot architecture.
Sensor channels · host · bandwidth · timing
Explore sensing & control capabilitiesNext decision
Choose the next decision you need to make.
01
Browse catalog components
Use known torque, speed, envelope or interface targets to browse relevant hardware.
Continue02
Configure a joint
Start with rated torque and output speed, then refine the joint around your application.
Continue03
Define geometry-dependent parts
Describe harnesses, links, adapters or interfaces that depend on your robot geometry.
Continue04
Request engineering files
Request drawings, STEP/STP files or interface documentation when needed for packaging and integration.
ContinueHumanoid hardware request
Prepare the information needed to define your humanoid hardware request.
Inputs that help
What to prepare before you request a quote
- Total Degrees of Freedom (DoF), joint count, torque, speed and duty targets
- Hollow-shaft joint routing, joint envelope and high-density cable path constraints
- Harmonic drive size or reducer size, if supplied
- Motor power bus separation from absolute encoder feedback
- Encoder feedback protocol: SSI, BiSS-C, incremental or absolute
- Dexterous hand payload, wrist payload and end-effector interface
- EtherCAT, CANopen, RS485 or other communication context
Technical consideration: EMI and signal-isolation considerations may matter in high-density hollow-shaft routing; define the requirement with the joint, cable and control interfaces.
What you can receive
What you can prepare with this page.
- A focused list of joint, structure, harness, hand, sensing and compute requirements
- A clearer split between catalog hardware and geometry-dependent custom work
- The product, capability and engineering guide context needed for the next request
- An engineering file request with the relevant subsystem and hardware decision identified
What this page does not cover
This page does not imply full humanoid system delivery, locomotion control validation, balance algorithm validation or certified safety performance.
EmbodyStack does not guarantee humanoid safety certification; balance, locomotion, fall safety and final system validation remain customer responsibilities.
Engineering files
Some drawings, native CAD and supplier-sensitive files require controlled access. Availability depends on the product, project context and applicable access requirements.
Request engineering files Understand file accessReady to define the hardware?
Prepare a humanoid hardware request.
Use this page when your humanoid project needs joint, structure, sensing and wiring hardware specified together before you request a quote.