Humanoid-universe.com

New to this, so forgive me if this is obvious - Distributed power architectures (multiple smaller packs or local capacitor buffering near high-draw actuators) can reduce peak current demands on the main bus and improve fault isolation, at the cost of added complexity versus a single central pack. Higher-voltage power architectures reduce resistive losses and current draw through the wiring harness for a given power level, which is part of why some newer platforms are moving away from lower-voltage packs as total system power demand climbs.

Speaking from personal experience here, Regenerative braking on humanoid joints can recover some energy during deceleration phases of walking, but the actual energy recovered is modest compared to a vehicle, since humanoid joints don't sustain the same continuous high-speed rotation that makes regen worthwhile in EVs. A BMS (battery management system) has to guard against transient current spikes from sudden gait changes or lifting motions, not just steady-state draw - peak current headroom and fast-acting protection logic matter as much as total capacity for real-world duty cycles.