Adding DoF to humanoids requires actuator and cooling redesign
ChongZzZhang · x · 2026-08-19
Discussing control challenges in humanoid robots (e.g., HONOR running demo), it is noted that adding even one extra degree of freedom for flat-ground walking requires redesigning the actuator layout and cooling system, identifying inertia, and re-modeling the real robot before updating the URDF. A simple ankle redesign can break the whole system, necessitating a full redesign.
Related event: Humanoid Robots Need Actuator and Cooling Redesign for Extra Freedom(2 posts)→
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