Humanoid Robot Actuator Selection: The IN/OUT Principle and Datasheet
MarwaEldiwiny · x · 2026-08-12
The author shares practical experience in selecting actuators for humanoid robots and provides an open-source datasheet.
The core is the IN/OUT Principle, used to filter requirements and separate actual needs from nice-to-haves:
- I (Indispensable): Won't function without it.
- N (Needed): Will function, but severely limits ability.
- O (Optional): Nonessential, but makes life easier.
- U (Useless): Offers no practical benefit.
- T (Toxic): Degrades performance with zero benefit.
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